Modelling & Control Of A Quadrotor

Objectives
Dynamic modelling of a quadrotor: the goal is to obtain a model which is consistent with a real quadrotor operation System control: where the aim is to use understanding of quadrotor dynamics to control its attitude ( pitch, roll and yaw angles) and altitude

How A Quadrotor Works?

Physical Configuration Aerial vehicle 4 fixed pitch propellers, arranged around CoG 1 pair rotates clockwise, another pair anti-clockwise The force and moments generated by propeller thrusts effect the motion and attitude of the quadrotor. Thrust and moments produced by each propeller is manipulated to achieve required manouvre

Climb & Descent

Forward Backward & Sideward Motion

Yawing Motion

Quadrotor Modelling

Quadrotor Modelling

Verification of Model
Test Results

Test 1: Climb Expected Results: 1. Quadrotors altitude stabilizes at 10 metres 2. No Roll, Pitch or Yaw Angle 3. No horizontal motion (X and Y Axes)

Verification of Model
Test Results

Test 2: Pitch/ Roll Expected Results: 1. Quadrotors altitude stabilizes at 10 metres 2. Roll Angle setlles at 1 degree 3. No Pitch and Yaw Angle 4. Horizontal Motion in Y-axis 5. No Horizontal Motion in X-axis

Verification of Model
Test Results

Test 2: Pitch/ Roll Expected Results: 1. Quadrotors altitude stabilizes at 10 metres 2. Roll Angle setlles at 1 degree 3. No Pitch and Yaw Angle 4. Horizontal Motion in Y-axis 5. No Horizontal Motion in X-axis

Control Problem
Test Manoeuvre: 1. Stabilize altitude at 10 meters 2. Then hold 20 degree roll Test Results:

Control Mechanism
Required Thrust force to keep preserve altitude,

Required Propeller Thrust for manouveres, with pz being control parameter, for descend and climbing manouvres,

Control Mechanism

Remarks
Conclusions 1. The model gives a good representation of real quadrotor dynamics 2. The altitude hold controller is show to be effective through testing 3. The angular attitude controllers are also shown to be working through tests 4. The 3 aims of this investigation have been achieved

Further Work & Improvements 1. Include effect of wind turbulence in model, to test robustness of controllers 2. Include aerodynamic drag on body and propellers 3. Implement normal force 4. Include effects of blade flapping