Eventos Anais de eventos
COBEM 2021
26th International Congress of Mechanical Engineering
Stabilization and control of a quadcopter in physical and simulation systems
Submission Author:
Huascar Mirko Montecinos Cortez , SP , Bolivia
Co-Authors:
Huascar Mirko Montecinos Cortez, Neusa Maria Franco Oliveira, Adalberto José Araújo Tavares Júnior
Presenter: Huascar Mirko Montecinos Cortez
doi://10.26678/ABCM.COBEM2021.COB2021-1791
Abstract
One of the biggest challenges in quadcopter systems and, in general, UAVs (unmanned aerial vehicles), is the development of a control system that provides the most stable flight possible in the real world. However, to carry out the control law projects, it is necessary to have the mathematical model of the system. Therefore, this work presents the development of the mathematical model of a quadcopter using the physical characteristics and the Euler-Lagrange equations. Using this mathematical model, its linearization was performed, and, with this linearized model, an attitude control system based on the cascade controllers strategy, which consists of the proportional, integral, and derivative control actions, PID, was carried out. The simulations of the attitude controllers designed to control the nonlinear and linearized mathematical models are presented, having fulfilled the function of achieving stabilization in an acceptable response time with an excess signal within the limits established at the time of the development of the controllers. Then, the PID's controllers were discretized, aiming that these controllers be implemented in a microcontroller, so that they are shipped in the physical quadricopter. To check the behavior of the physical quadcopter being controlled by the projected controllers, the Kalman filter was used to filter the signals from the attitude estimation sensors. Using the same command signals used in the quadricopter model represented by the mathematical model obtained in the physical system controlled by the controllers designed, discretized, and embedded in a microcontroller, we obtained similar responses, indicating that the mathematical model developed is an adequate tool to develop systems for autopilot, on the bench, since, when implemented in the physical system, they result in responses that are very close to responses, meeting the requirements established for the project. Analyzing the responses obtained, some discussions are made to improve the stability of the quadcopter, you can change the control strategy to a more robust one and optimize the onboard code to minimize response times and improve the flight stability of the quadcopter.
Keywords
mathematical model, Cascade system, microcontroller
