MODELLING CONTROLLER DESIGN FOR QUADCOPTER SYSTEM CONCLUSION

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