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Sirindhorn International Institute of Technology
Unmanned Aerial
Vehicle
Presentation at
NECTEC (23-07-2012)
Mr. Tanapol Prucksakorn
Mr. Kraingkrai
Under
Dr. Kanokvate Tangpimolrat’s and
A.Itthisek Nilkchamhaeng’s supervison
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2. Sirindhorn International Institute of Technology 2
Unmanned Aerial Vehicle
Introduction
Collecting information from the air is difficult
to do nowadays (by airplane, helicopter or
satellite).
In Thailand, there are many kind of copters
(1 rotor, 3 rotors, 8 rotors and more). But
most of them are for entertainment
purpose.
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Unmanned Aerial Vehicle
Introduction
Quadrotor is a copter that has 4 rotors. It
was invented in 1920.
Figure 1: Quadrotor with cover
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Unmanned Aerial Vehicle
Introduction
Quadrotor has 2 rotors rotate in clockwise
direction and another 2 rotors rotate in
counterclockwise direction, this provides
stability in yaw axis.
Figure 2: Quadrotor Free Body Diagram
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Unmanned Aerial Vehicle
Introduction
This research project is a
sequel from Tricopter
(copter with 3 rotors)
project in 3rd year.
Figure 3: Tricopter Project
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Unmanned Aerial Vehicle
Research Plan
Implement PID
Makes quadrotor fly
controller
Find dynamics model of Add inverse dynamics
quadrotor controller
Simulate in MATLAB
(using PID controller)
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Unmanned Aerial Vehicle
PID Controller
PID controller is the controller that provides
stability mainly based on feedback loop.
It uses an error value from input minus
output to stabilize the plant.
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Unmanned Aerial Vehicle
PID Controller
Input (Position) + error PID Current Dynamics Output (Thrust)
Controller Model
-
Position
Sensor
Figure 4: PID controller
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Unmanned Aerial Vehicle
Inverse Dynamics Controller
With PID Controller
This controller improve the previous
controller by add a inverse of plant which is
1
This makes the system relies on the
feedback loop less than the previous
controller.
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Unmanned Aerial Vehicle
Inverse Dynamics Controller
With PID Controller
Inverse of
Dynamic Model
Input (Position) + error + Output (Thrust)
PID Dynamics
- Controller + Model
Position
Sensor
Figure 4: Inverse dynamics controller with PID controller
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Unmanned Aerial Vehicle
Equipment List
 Microcontrollers (Arduino) x 2
 Brushless Motors x 4
 ESCs x 4
 Propellers x 4
 IMU
 Structure (Carbon Fiber, Fiber Glass)
 Ultrasonic Sensor
 Infrared Sensor
 Camera (Kinect)
 Battery
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Unmanned Aerial Vehicle
Expected Problems
 Physical
 Frame and dimensions
 Battery and power distribution
 Hardware calibration
 Motors
 ESCs
 Control
 Dynamics model
 Gain and response
 Multivariable inputs
 Inverse Dynamics Controller is not possible for some dynamics
controller
 Sensors calibration
 Image processing
 Quality
 Precision
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Unmanned Aerial Vehicle
Timeline
Month
Activity
Jun Jul Aug Sep Oct Nov Dec Jan Feb Mar
Study Quadrotor
Design and Order
parts
Control motor
Study Sensor
Camera
Assemble
Test
Summary and Report
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Unmanned Aerial Vehicle
Video
http://www.youtube.com/watch?v=Y4jtguS
F0n4
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Unmanned Aerial Vehicle
Question and Answer
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