Quattro Copter
description
Transcript of Quattro Copter
14/09/2005
Quattro Copter
Design & Development of a Quad Rotor MAV
Beniamin Apopei
General Description
Goals: Vertical Take off and Landing MAV Stable and Maneuverable Flight Time >10 min Minimum Payload: 250g As small as possible Design, construction, matlab simulation and control
Achievements: 4 propellers MAV, 6 DOF Physical and Mathematic modelling. Matlab simulation Visual Interface for Control and Monitoring Take off, stable hovering and landing
Why 4 propellers? Problems:
Coupled inputs Complicated rotor mechanics Watts / Weight Efficiency Reaction Torque
4 Propellers Model
Mathematic Model
System Function
States Vector
System Inputs
Sistem’s Stability
Subsystem Operating Point Liapunov Function [1]
[2]
We choose inputs [3]
Results
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0,,0,,0, 1197dddd xxxX
2
212
2
1111210
2
9928
2
77 xxxxxxxxxXV
ddd
1)( CXV
412121111310109928877 UI
lxxxxU
I
lxxxxU
I
lxxxxV
z
d
y
d
x
d
12311114
102993
81772
xkxxIU
xkxxl
IU
xkxxl
IU
dz
dy
dx
03212
2210
128
zyx I
lkx
I
lkx
I
lkxV [4]
Inputs Correlation
Altitude Variation as a result of Roll/ Pitch andYaw
Matlab Simulation Model
Simulation diagram
Visual Interface
Final Model
First Experiments
Stability Noise problems Brushed Motors A/D &Digital together Serial Com Software Personal Satisfaction Research Proposal