Research on Ackerman Driverless Vehicle Control Strategy Based on IMU Steering Calibration and Inverted Parabolic Speed Control

Chi, Haifei; Zhu, Zhishan

doi:10.1109/iccece51280.2021.9342314

Cited by 1 publication

(1 citation statement)

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“…In report [9], the gyroscope and accelerometer use MPU6050 components to measure the angle and angular velocity of this UAV. From the pieces of knowledge according to the above description, one can calculate the external force on the UAV by measuring the angle and angular velocity of the UAV [10,11]. It could also follow up on the IMU (inertial measurement unit system) to know the error value of this application product.…”

Section: Introductionmentioning

confidence: 99%

Performance Evaluation of a Quadcopter by an Optimized Proportional–Integral–Derivative Controller

Chen

Lin

2023

Applied Sciences

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This paper presents an analysis of a quadcopter’s stability and its sensors’ data reading using an IMU (inertial measurement unit). Firstly, the angular velocity and acceleration data are read by an Stm® development board embedded with an Stm32f401ccu6 microcontroller. The altitude of the measurement instrument platform was determined using an MS5611 barometric pressure sensor combined with a temperature sensor. The quadcopter’s control was achieved by connecting a brushless DC motor to the Stm® board, which received four PWM (pulse-width modulation) signals via the output port. An electronic governor was utilized to control the brushless DC motor, while a pre-existing remote control was designated as the transmitter. The quadcopter receiver received a 2.4 GHz signal from the transmitter using the BLE (Bluetooth low-energy) protocol, which was used to ensure the simultaneous operation of the four brushless DC motors. Finally, a PID (proportional–integral–derivative) controller was employed for parameter adjustment. The collected PID parameter program was developed in the Simulink software as a simulation platform, allowing for the execution of the Simulink model on the Stm® MCU. The Stm® module facilitates monitoring of the performance of the UAV (unmanned aerial vehicle) and enables immediate parameter adjustments to ensure flight stability. This research aims to reduce calculation errors in sensor and controller usage and improve the efficacy of the remote machine module for future industrial applications.

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Section: Introductionmentioning

confidence: 99%