Identification and modelling of a quadrotor
This project involves the modelling and identification of a quadrotor, the X600D. The model developed captures the key dynamics of the quadrotor to estimate the response to a known input. The model can be applied when evaluating model-based control strategy. State-space model for pert...
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| Format: | Final Year Project |
| Language: | English |
| Published: |
2011
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| Online Access: | http://hdl.handle.net/10356/45324 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | This project involves the modelling and identification of a quadrotor, the X600D. The model developed captures the key dynamics of the quadrotor to estimate the response to a known input. The model can be applied when evaluating model-based control strategy.
State-space model for perturbation from hover state was developed based on the derived equation of motion. Open loop simulation based on experimental data proves to be unstable and unpractical. Implementation of proportional-derivative outer loop controller proves the feasibility of the simple controller.
Modelling of the quadrotor and propulsion sub-system response by lower order simplified transfer function was obtained through analysis of the experimental data. Identified system of transfer functions was validated with new flight data. Despite the symmetry, identified parameters for roll and pitch response were different, possibly caused by sensor and actuator tolerance. However, a common transfer function can be used for both axes for simplification without too much error. |
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