Hardware/Software Architecture for Research of Control Algorithms of a Quadcopter in the Presence of External Wind Loads

Abstract

The paper presents a hardware/software architecture for the study of algorithms for controlling an unmanned aerial vehicle-type quadcopter in the presence of wind loads; an algorithm for the stabilization of the position of the center of mass of the quadcopter has been implemented and tested on an experimental model. The purpose of the presented hardware/software architecture is a study of the UAV control system parameters influence on the accuracy of the positioning of the vehicle in laboratory conditions under the influence of wind loads, as well as the movement of the vehicle along the specified points of the trajectory based on inertial sensors. The article discusses about the necessary hardware and software elements for reaching the stabilization of the position of the quadcopter in the hover mode based on data obtained from sensors. As the result of the study, the theoretical and experimental data are compared and the permissible range of the positioning error of the device is determined.

Investigation of Wind Effects on UAV Adaptive PID Based MPC Control System

“…This is because their features and ability to carry out operational and high-precision work in hard-to-reach or dangerous areas when performing missions such as search and inspection of remote areas, aerial photography and mapping, agricultural crop monitoring, hazardous material recovery, disaster prevention and relief support or surveillance of sensitive areas (borders, ports, oil pipelines), just to name a few. [1], [2], [4].…”

“…Coastal territories constitute a strategic area of interest for any country in terms of trade and responsible natural resource exploitation, also in terms of economic, industrial, political and defense activities in general [4], [5]. However, the presence of coastal territories represents a high responsibility for governmental authorities and implies an accurate control over before mentioned activities by national security services.…”

“…This situation is used by some organizations to carry out various types of activities not responding to compliance with law, namely: illegal extraction and trade of natural resources (minerals, petroleum products, wood, poaching, among others. ), causing large economic losses [2], [4], [6]. In this regard, maritime security services are constantly in need of expanding and modernizing the technologies used to improve the efficiency of the work carried out to ensure control and safety in these areas.…”

“…Besides, small sea vessels are difficult to track by standard radar and satellite systems [7]. The proposed aerial platform includes an autonomous smallsized UAV type quadcopter with attachments and a hardwaresoftware system [2], [4], [8], [10].…”

“…The peculiarity of monitoring coastal territories belongs to the unpredictability of the air and water environment behavior, as well as the periodic absence of visual contact between the operator and the aerial vehicle when performing remote autonomous missions. Therefore, the robotic aerial platform at least must satisfy conditions such as the use of a lightweight, robust and moisture-resistant UAV frame, based on structural topology optimization principles for better aerodynamics, vibration and payload features [2], [4], [10]. The availability of an energy-efficient system for extended flights, long-range telemetry and videotransmitter modules for real-time flight status management and reception of visual information about ground target identification process respectively.…”