TABLE OF CONTENTS PAGE
DECLARATION APPROVAL
DEDICATION ABSTRACT
i ABSTRAK
ii ACKNOWLEDGEMENTS
iv TABLE OF CONTENTS
v LIST OF TABLES
vii LIST OF FIGURES
viii LIST OF ABBREVIATION
xii LIST OF PUBLICATION
xiv
CHAPTER 1.
INTRODUCTION 1
1.1 Background of Thesis 1
1.2 Motivation 2
1.3 Problem Statement 3
1.4 Objectives 4
1.5 Scope of Thesis 5
1.6 Contribution of Thesis 6
1.7 Research Methodology 7
1.8 Thesis Outline 8
2.
LITERATURE REVIEW 10
2.1 Introduction of UAV 10
2.2 History of UAV 11
2.3 Unmanned Aerial Vehicle System 12
2.3.1 Types of VTOL UAV System 13
2.3.1.1 Tandem Rotor 15
2.3.1.2 Blimp 16
2.3.1.3 Coaxial Copter 17
2.3.1.4 Quadcopter 17
2.4 Autonomous Unmanned Aerial Vehicle Quadcopter 19
2.4.1 Altitude Control 25
2.4.2 Attitude Control 29
2.5 Noise Reduction 32
2.6 Real-Time Application 35
2.7 Summary 36
3. MODELLING
38
3.1 Overview 38
3.2 Basic Concepts of Quadcopter System 38
3.2.1 Thrusting 40
3.2.2 Rolling 41
3.2.3 Pitching 42
v
3.2.4 Yawing 43
3.3 Quadcopter Frame 44
3.4 Mathematical Modelling of Quadcopter System 45
3.5 Physical Parameter Determination 53
3.5.1 Motor and Propeller Model 53
3.5.2 Angular Velocity of Motor Propeller Experiment 54
3.5.3 Force Lift Experiment 57
3.5.4 Mechanical Structure of Quadcopter System 59
3.6 Summary 62
4. CONTROLLER DESIGN FOR QUADCOPTER SYSTEM
63
4.1 Overview 63
4.2 Principle of Hovering Speed of Quadcopter Model 64
4.3 Controller Design and Simulations of Quadcopter System 66
4.3.1 Quadcopter System with PID Controller 67
4.3.2 Quadcopter Attitude Control 70
4.3.2.1 Yawing Control 71
4.3.2.2 Rolling Control 73
4.3.2.3 Acceleration Control 78
4.3.3 Altitude Control of the Quadcopter System 84
4.4 Altitude Analysis 90
4.4.1 Real Time Execution 90
4.4.2 Input 92
4.4.3 Noise Reduction 93
4.4.4 Output 95
4.4.5 Altitude Control 96
4.5 Summary 99
5. CONCLUSION
100
5.0 Conclusion 100
5.1 Suggestion and Future Work 102
REFERENCES 103
vi
LIST OF TABLES
TABLE TITLE
PAGE
2.1 The comparison of VTOL concept
14 2.2
3.1 Movement characteristics
The characteristic of movements in a Quadcopter System 19
40 3.2
3.3 Constant parameter
Moment of inertia value 62
62
vii
LIST OF FIGURES
FIGURE TITLE
PAGE
2.1 2.2
Illustration of quadcopter aerial vehicle concept Aerial vehicle configuration
4 13
2.3 CH-47 Chinook Tandem rotors USA army, 1999
15 2.4
One of the iconic Goodyear Blimps 16
2.5 2.6
Coaxial copter RTF Quadcopter UAV
17 18
2.7 2.8
2.9
2.10 Quadcopter system
Block diagram for quadcopter controller Keyur Patel et al., 2015 The difference between the angle of rolling respond PD, PID and
Back-Stepping controller Illustration of inertial and the body frame
19 21
22
24 2.11
2.12
2.13 2.14
3.1 3.2
3.3 Quadcopter centre of mass
The result of pitch angle for tilting rotor quadcopter simulation A. Nemati et al., 2014
Basic control system of quadcopter Implementation of adaptive control system
A simplified quadrotor motor in hovering Throttle movement
Roll movement 24
32 30
34 34
39 41
42
viii
3.4 3.5
3.6 3.7
3.8 3.9
3.10 3.11
3.12 3.13
3.14 3.15
3.16 3.17
4.1 4.2
4.3 4.4
4.5 4.6
4.7 4.8
4.9 4.10
4.11 Pitch movement
Yaw movement Quadrotor frames
Roll, pitch, and yaw rotation Turnigy micro tachometer
Electronic speed controller ESC Brushless DC Motor
Lift test method for brushless motor Angular velocity vs. duty cycle
Propeller 1045 Force VS speed of propeller
Cross structure of the developed quadcopter frame The value of I
xx
, I
YY
,
and I
ZZ
Bifilar pendulum test Open loop simulation of quadcopter system
Altitude change at 400rads Altitude change at 390rads
PID block configuration and simulation Simulink block for the yawing control system
Yawing controller step response for 180
○
angle target Rate of motor speed variable
Simulink block for the rolling control system with PID Rolling control step response for 30
◦
angle target Rate of motor speed variable
Rolling controller step response for 30
◦
to -30
◦
angle target 43
44 45
45 54
55 55
56 56
58 58
59 60
61 64
65 65
69 71
72 73
74 75
76 77
ix
4.12 4.13
4.14 4.15
4.16
4.17 4.18
4.19 4.20
4.21 4.22
4.23 4.24
4.25 4.26
4.27 4.28
4.29 4.30
4.31 4.32
4.33 4.34
Variable changes motor speed Simulation blocks of acceleration control
System response for the 100m distance Combination of the rolling controller and the acceleration
controller Step response for the combination of rolling and acceleration
controller Current rolling angle of the system
Actual rolling angle target Motor speed variable response
PID Altitude controller PID step respond before without saturation setting
PID with saturation for altitude controller PID step response for 1 meter height target
PID step response for 20m height target The motor response for 20m height target
Development process of a software component PCI-1711 DAQ Card
Infrared proximity sensor Sharp GP2Y0A02YK0F Lookup table set up for the proximity infrared sensor
Low pass filter single order circuit Low pass filter block
PWM signal generator block Hardware experiment setup
Real time simulink block for the Altitude controller 78
79 80
81 78
82 79
83 83
84 85
86 87
88 89
91 88
88 92
93 93
95 95
96 97
x
4.35 4.36
Real Time Vs Simulation Altitude of quadcopter respond Real Time motor speed response
98 99
xi
LIST OF ABBREVIATION
UAV VTOL
- Unmanned Aerial Vehicle - Vertical Take-Off And Landing
DAQ - Data Acquisition Card
RTWT - Real Time Windows Target
ESC - Electronic Speed Controller
DC - Direct Current
BLDC DOF
PID - Brushless Direct Current Motor
- Degree Of Freedom - Proportional-Integral-Derivative Controller
LTA - Lighter Than Air
HTA PD
- Heavier Than Air - Proportional Derivative Controller
ISE - Integral Square Error
IAE - Integrated Absolute Value Of The Error
COM COG
- Centre Of The Mass - Centre Of Gravity
LQR E-frame
B-frame IMU
MIMO - Linear Quadratic Regulator Controller
- Earth Inertial Frame - Body Fixed Frame
- Inertial Measurement Unit - Multiple Input Multiple Output
xii
SISO RTAI
COMEDI CW
CCW 3D
PWM RPM
Li-Po PCI
AD DA
SRAM - Single Input Single Output
- Real Time Application Interface - Control And Measurement Device Interface
- Clock Wise - Counter Clock Wise
- Three Dimension - Pulse Width Modulation
- Round Per Minute - Lithium Polymer Battery
- Peripheral Component Interconnect - Analogue To Digital
- Digital To Analogue - Static Random-Access Memory
xiii
LIST OF PUBLICATIONS
The research papers produced and published during the course of this research are as follows:
1. Zaki Mustapa, Shakir Saat, Husin S. H. and Norafizah Abas, 2015. Altitude