This thesis work focused on the study of a quadrotor helicopter. The dynamic system modeling and control of attitude of Quadrotor Helicopter carried out. To test the results, a simulator and a real platform were developed. The Newton-Euler formalism was used to model the dynamic system. Particular attention was given to the group composed of the gearbox and the propeller, which needed also the estimation of aerodynamic lift and torque to reach better accuracy. PID control algorithms were compared. The first stage tests were performed on a simulated model where it was easy to evaluate the performance with a mathematical approach. The second stage tests were carried out on the quadrotor platform to evaluate the behavior of the real system. A simulator based on Matlab-Simulink was developed. With this program it was possible to test the accuracy of the model and the robustness of the control algorithms. This made easier the testability and the observability of the system.
Questo lavoro di tesi incentrata sullo studio di un elicottero quadrotor. La modellizzazione sistema dinamico e di controllo di atteggiamento di elicottero Quadrotor effettuate. Per testare i risultati, un simulatore è stato sviluppato. Algoritmi di controllo PID sono stati confrontati. I test sono stati eseguiti su un modello simulato dove era facile valutare le prestazioni con un approccio matematico. Un simulatore basato su Matlab-Simulink è stato sviluppato. Con questo programma è stato possibile testare gli algoritmi di controllo. PID control algorithms were compared. The tests were performed on a simulated model where it was easy to evaluate the performance with a mathematical approach. A simulator based on Matlab-Simulink was developed. With this program it was possible to test the control algorithms.
Attitude control for a quadrotor helicopter
QASIM, MUHAMMAD
2012/2013
Abstract
This thesis work focused on the study of a quadrotor helicopter. The dynamic system modeling and control of attitude of Quadrotor Helicopter carried out. To test the results, a simulator and a real platform were developed. The Newton-Euler formalism was used to model the dynamic system. Particular attention was given to the group composed of the gearbox and the propeller, which needed also the estimation of aerodynamic lift and torque to reach better accuracy. PID control algorithms were compared. The first stage tests were performed on a simulated model where it was easy to evaluate the performance with a mathematical approach. The second stage tests were carried out on the quadrotor platform to evaluate the behavior of the real system. A simulator based on Matlab-Simulink was developed. With this program it was possible to test the accuracy of the model and the robustness of the control algorithms. This made easier the testability and the observability of the system.File | Dimensione | Formato | |
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https://hdl.handle.net/10589/78562