Mathematical modeling and control law design for 1DOF Quadcopter flight dynamics

摘要

The purpose of this research is the modeling and Linear Control of Quad copter through pitch, roll, yaw and thrust command Interface. This research starts with derivation of nonlinear mathematical model of quad copter dynamics that consists of 6 degree of freedom(DOF) motions. The non-linear model is then linearized around equilibrium point and then 3DOF kinematics is extracted in order to design stabilizing and tracking control of three angular motions (Pitch, Yaw and roll). The Open loop transfer function of each DOF rotation motion shows that quad copter is highly unstable without any damping factor in linear mode. A Proportional integrator and differentiator(PID) controller is designed to control and stabilization of 3DOF rotations, controlling the four actuators independently in simulation. The real time 1DOF operation is done on designed Test rig in which the relation between thrust, Average RPM is evaluated and desired pitch pitch response is achieved by closed loop PID controller on Test rig. To support the above arguments, the simulated results as well as experimental results are presenented and compared.