The project is divided into three parts: 1. Mathematical modeling of the quadcopter...

Question

The project is divided into three parts:

1. Mathematical modeling of the quadcopter platform: First the nonlinear equations of motion (EoM) are presented. You will be asked to linearize the EoM to form a linearized system using which the transfer functions and state-space models can be derived.

2. Design a Proportional-Integral-Derivative (PID) and linear quadratic regulator (LQR) controllers to stabilize the quadcopter system.

3. Test the controller performance using Matlab.

PLEASE LOOK AT ALL HIGHLIGHTED PARTS IN THE DOCUMENT UPLOADED.

ece-3111-project-quadcopter-control-afp5gpzm.pdf

Banasree · Accepted Answer

Introduction:
 A quadcopter is a helicopter which has four equally spaced rotors, usually arranged at the corners of a square body. With four independent rotors, the need for a swashplate mechanism is alleviated. The swashplate mechanism was needed to allow the helicopter to utilize more degrees of freedom, but the same level of control can be obtained by adding two more rotors. The development of quadcopters has stalled until very recently, because controlling four independent rotors has proven to be incredibly difficult and impossible without electronic assistance. In this project, given data will be analyze to find a suitable model.
Modelling and controlling design:
1.
Linear model structure
ᶞx. = Aᶞx +Bᶞu
ᶞy = Cᶞx
{(xbar, ubar) | f(xbar,ubar = 0)} → (xbar,ubar) is and equilibrium point
x = x – x bar
u = u – ubar
A = df(x,u)/dx | x=x bar, u = u  bar
B =df(x,u)/du |x = x bar, u = u bar
C = dg(x,u)/dx |x=x bar, u =u bar
Linear equation will be:
έ = v
mṿ = 
ƛ=Ω
IΏ = τ
Linearized set of equations:
1. Pitch Control:
ẋ = Vx
Ṿx = -mgθ
Ӫ = q
q = τx/Ix
2. Roll control:
ẏ = Vy
Ṿy = mgϕ
Φ. = p
p. =τy/Iy
3. Altitude control:
z. = Vz
Ṿz = - (T-mg)/m
4. Yaw control:
Ψ. = r
r. = τz/Iz
With the same model controller are computed for each subsystem. The obtained controller structure result to be in parallel. Where, following the same structure,

The project is divided into three parts: 1. Mathematical modeling of the quadcopter platform: First the nonlinear equations of motion (EoM) are presented. You will be asked to linearize the...

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