Frequency Response System Identification and Flight Controller Tuning for Quadcopter UAV

Sakulthong, Sarul; Tantrairatn, Suradet; Saengphet, Watcharapol

doi:10.1109/esit.2018.8665114

Cited by 6 publications

(3 citation statements)

References 8 publications

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“…The signal is sent to the aircraft actuator through an RC transmitter. Doublet inputs are used by researchers and manufacturers to identify aircraft [66][67][68][69][70][71][72][73][74][75][76]. Fig.…”

Section: Flight Data Acquisitionmentioning

confidence: 99%

Validation of Quad Tail-sitter VTOL UAV Model in Fixed Wing Mode

Priyambodo

Majid²,

Shouran³

2023

Journal of Robotics and Control

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Vertical take-off and landing (VTOL) is a type of unmanned aerial vehicle (UAV) that is growing rapidly because its ability to take off and land anywhere in tight spaces. One type of VTOL UAV, the tail-sitter, has the best efficiency. However, besides the efficiency offered, some challenges must still be overcome, including the complexity of combining the ability to hover like a helicopter and fly horizontally like a fixed-wing aircraft. This research has two contributions: in the form of how the analytical model is generated and the tools used (specifically for the small VTOL quad tail-sitter UAV) and how to utilize off-the-shelf components for UAV empirical modeling. This research focuses on increasing the speed and accuracy of the UAV VTOL control design in fixed-wing mode. The first step is to carry out analysis and simulation. The model is analytically obtained using OpenVSP in longitudinal and lateral modes. The next step is to realize this analytical model for both the aircraft and the controls. The third step is to measure the flight characteristics of the aircraft. Based on the data recorded during flights, an empirical model is made using system identification technique. The final step is to vali-date the analytical model with the empirical model. The results show that the characteristics of the analytical mode fulfill the specified requirements and are close to the empirical model. Thus, it can be concluded that the analytical model can be implemented directly, and consequently, the VTOL UAV design and development process has been shortened.

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Section: Flight Data Acquisitionmentioning

confidence: 99%

Validation of Quad Tail-sitter VTOL UAV Model in Fixed Wing Mode

Priyambodo

Majid²,

Shouran³

2023

Journal of Robotics and Control

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“…In terms of attitude control, the roll, pitch, and yaw responses of the quadcopter system developed in this work are typically more jittery compared with the responses of quadcopters using popular firmware systems like ArduPilot [30] and Pixhawk [31,32] but the developed system can nonetheless achieve a lower average tracking error in the roll and pitch angles.…”

Section: Pid Tuningmentioning

confidence: 99%

Modeling and Implementation of Quadcopter Autonomous Flight Based on Alternative Methods to Determine Propeller Parameters

Rible¹,

Arriola²,

Ramos³

2020

Adv. sci. technol. eng. syst. j.

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To properly simulate and implement a quadcopter flight control for intended load and flight conditions, the quadcopter model must have parameters on various relationships including propeller thrust-torque, thrust-PWM, and thrust-angular speed to a certain level of accuracy. Thrust-torque modeling requires an expensive reaction torque measurement sensor. In the absence of sophisticated equipment, the study comes up with alternative methods to complete the quadcopter model. The study also presents a method of modeling the rotational aerodynamic drag on the quadcopter. Although the resulting model of the reaction torque generated by the quadcopter's propellers and the model of the drag torque acting on the quadcopter body that are derived using the methods in this study may not yield the true values of these quantities, the experimental modeling techniques presented in this work ensure that the derived dynamic model for the quadcopter will nevertheless behave identically with the true model for the quadcopter. The derived dynamic model is validated by basic flight controller simulation and actual flight implementation. The model is used as basis for a quadcopter design, which eventually is used for test purposes of basic flight control. This study serves as a baseline for fail-safe control of a quadcopter experiencing an unexpected motor failure.

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“…This study uses control PID as a quadcopter control algorithm but has not found a suitable PID value to get a good response. This study [3] presents a methodology for determining dynamic models for the Firefly FY450 quadcopter. The Pixhawk controller with factory-made firmware is implemented as a flight controller.…”

Section: Introductionmentioning

confidence: 99%

Quadcopter Main Board Design with PID Algorithm as Controller

Bachtiar

Wibowo

Prastyawan

et al. 2022

Inf. J. Ilm. Bid. Teknol. Inf. dan Komun.

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Kontes Robot Terbang Indonesia (KRTI) Flight controller division has a mission to independently make an unmanned aerial vehicle (UAV) controller. UAV controllers are usually made by non-local manufacturers, who have a package between the controller and the aircraft. Due to limited pins and specific functions, most controllers cannot adapt to user requirements. For this reason, in this study, we made a UAV controller with a more significant number of pins that can be programmed independently. Main Controller is a master board device used to control the stability of the UAV when flying. The main controller has been designed specifically for certain products so that the UAV cannot be modified. In this study, it is proposed to make the main controller that is specifically designed to fly a Quadcopter UAV. Movement control for quadcopter stability when flying using the Proportional Integral Derivative (PID) method. The main controller has a function that is to regulate the entire course of flight on unmanned vehicles. PID control can adapt to changes so that the system becomes stable. The PID control on the Main Controller is intended to balance the quadcopter concerning its orientation angle. The Main Controller is also tasked with recording data from sensors such as the Inertial Measurement Unit (IMU) and reading data from the remote. The controller successfully flew the quadcopter with a P value of 0.245, an I value of 0.0139, and a D value of 0.0085.

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Frequency Response System Identification and Flight Controller Tuning for Quadcopter UAV

Cited by 6 publications

References 8 publications

Validation of Quad Tail-sitter VTOL UAV Model in Fixed Wing Mode

Validation of Quad Tail-sitter VTOL UAV Model in Fixed Wing Mode

Modeling and Implementation of Quadcopter Autonomous Flight Based on Alternative Methods to Determine Propeller Parameters

Quadcopter Main Board Design with PID Algorithm as Controller

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