Methodology for identifying quadrotor parameters, attitude estimation and control

Abstract

Construction of test benches for the experimental measurement of the parameters of the dynamic model of Drones -UAS (Unmanned Aerial System)An option for the automatic control of mechanical devices is to obtain the parameters that make up the equation that describes their movement. This is why, under the approach of the Newton-Euler dynamic model applied to drones of maximum 25 kg, it is necessary to determine the inertial parameters for the complete system such as mass, dimensions, center of gravity and moments of inertia, as well as parameters of friction for brushless motors such as thrust force, drag torque and angular velocity.In the present work, the design and construction of test benches that allow the measurement of the parameters of the dynamic model of drones is carried out, starting from the identification of the parameter to be measured, devising a measurement mechanism that is viable from the constructive, functional and economic point of view. The designs are designed with the premise that the tests or measurements are replicable and offer reliable results with the accuracy required at a low maintenance cost. Additionally, for the friction parameter measurement benches, a data acquisition system is implemented under a work environment designed in MATLAB AppDesigner, which allows semiautomatic determination of the relationship equation between angular velocity vs. thrust and angular velocity vs. drag torque for brushless motors using regression.

Controller Design of a New Quadrotor Manipulation System Based on Robust Internal-Loop Compensator

“…A CAD model is developed using SOLIDWORKS to calculate the mass moments of inertia and all the missing geometrical parameters. We propose a methodology and implementation for the identification process in details in [20]. The identified parameters are given in Table I.…”

Neural Network Control System of UAV Altitude Dynamics and Its Comparison with the PID Control System

“…Each error values were fed into the PID to produce the hovering thrust, the rolling, pitching, and yawing control torsion. Such configuration was common in quadrotor studies involving PID, according to the following structure [40][41][42]:…”

“…The manual tuning of PID still becomes a common preferable method in quadrotor control studies [40,41,46]. Thus, in this work, the PID gains were manually tuned to work on the discrete form of controller [47]:…”

Design and implementation of a mini quadrotor control system in GPS denied environments

“…The most popular research platform in this category is Hummingbird quadrotor sold by Ascending Technologies [10], and the state-of-the-art quadrotor autonomous control theory is described in [9]. Thus, extensive research has been conducted on mini quadrotor development [11]- [14].…”