Quadcopter Based Three DOF Laboratory Test bed

Quadcopters are small rotary craft that can be used in various environments, where they are able to maintain hover capabilities like a conventional helicopter, but are mechanically simpler and can achieve higher maneuverability. They use 4 fixed pitch propellers to control lift and a combination of

Project Title

Quadcopter Based Three DOF Laboratory Test bed

Project Area of Specialization

Robotics

Project Summary

Quadcopters are small rotary craft that can be used in various environments, where they are able to maintain hover capabilities like a conventional helicopter, but are mechanically simpler and can achieve higher maneuverability. They use 4 fixed pitch propellers to control lift and a combination of propeller torques to control roll, pitch and yaw.The quadcopter is initially an unstable and under actuated plant with highly coupled and non-linear dynamics. These features make it an attractive experimental set-up and a system for controller design methodologies.

Considering the unstable and under actuated behavior of the quadcopter, we have designed a Quadcopter testbed which provides a platform to implement numerous control techniques on it and practically understand its output responses.It also enables the user to verify his/her control techniques by comparing the output results for the transient response and steady state error achieved after implementation of control techniques.

Moreover, this project involves both the hardware and the software domains.The hardware includes:

1) Quadcopter Testbed

2) Arduino Uno

3) Gyros

4) Accelerometers

5) Barometric sensors

6) Power Supply (12v , 10A)

The software used in this project is Matlab.A simulink Model has been designed in Matlab with a control section, A visualization area to graphically see the output responses of different control techniques that will be implemented on the Quadcopter testbed, a motor mixer and sensors.

The control input is given from the Simulink Model which has been brought in loop with the hardware through an Arduino UNO by serial communication.The hardware is further controlled by Arduino on the basis of the input signal from the Matlab. The input signal would either be for roll, pitch or Yaw because this project involves 3 degrees of freedom(Rotational) movements of the Quadcopter.The output response of the Quadcopter is then sensed by the Gyros  and displayed on the Matlab in the graphical form.This allows the user to observe the practical response of the implemented control technique and also allows him/her to test the verification of the implemented control technique.

Project Objectives

This project has been developed to allow the students to apply their control system’s knowledge and skills on a Hardware testbed. It has been assembled to allow them to test their understanding of the control system parameters like Steady State Error, Transient response and Stability. The main objectives of the Project are as follow:

1. Study of background theory on Quadcopter in terms of Modeling and State Space Equations
2. Study and develop about the working of Quadcopter and its integration with the controller.
3. Study about the principle IMU such as (Gyro feedback, Role of Accelerometers)
4. Investigation through software simulation ( The required softwares for demonstration)
5. Learning about MATLAB and SIMULINK Modeling and Controller Designing.
6. Development of basic knowledge of PROTEUS simulation software.
7. Building up of the selected topology circuit for simulation.
8. Simulation for PID, PD, PI and MPC controllers.
9. Real time Hardware-In-Loop and Data Acquisition through graphical outputs.

Project Implementation Method

The Implementation of this project involves four major steps. They involve:

1)      Mathematical Modeling of Quadcopter

A reference mathematical model has been taken to develop the understanding of the modeling of the quadcopter, frame of references of the quadcopter and the angular movements performed by the quadcopter. The state space equations have been derived and then the non linear state space model of the quadcopter has been converted into a linear model using the method of Taylor Series Expansion.The Controllability and Observability checks have also been performed.

2)      Development of Simulink Model in Matlab

The next step involves the development of  a Simulink Model in Matlab.A Simulink Model has been developed and it involves:

1. A controller
2. A visualization Area
3. A Motor Mixer
4. Sensors (Gyros and Accelerometers)

This model has been developed so that the user can implement his control techniques through Matlab.Matlab also allows user to change his control techniques. User may apply a PI, PID, PD,MPC etc control techniques using this Simulink Model and check the output reponses.

3)      Hardware Assembly

The next stage of implementation is the Hardware Assembly.As mentioned in the Summary too, Hardware of this project involves:

1. Quadcopter Testbed
2. Electronic Speed Controls (30A)
3. Power Supply (12v, 10A)
4. Arduino Uno Microcontroller
5. Gyros
6. Accelerometers

4)      Testing and Data Acquisition

The Final stage of this project involves the testing of the project and Data Acquisition to visualize and verify the output responses. The testing phase involves the implementation of the control techniques and verifyication of  the output result that it responds to the input reference values or not. Data Acquisition involves sensing of output response of the quadcopter by Gyro feedback and then displaying it on the Matlab visualization Area for the aid of the user.

Benefits of the Project

Control system plays an important role in numerous applications i.e. Aerospace, military applications, robotics, automation, biological systems etc. Therefore, control system is considered as a key subject in the scheme of studies of Electrical and Avionics engineering. However, unfortunately different concepts of control system are rarely demonstrated practically in real-time at this level. Most of the control system labs are purely based on Matlab and a student can only experiment on control techniques through softwares with no exposure to any hardware apparatus. To bridge this gap between theoretical knowledge and practical implementation at Bachelor’s level, we have designed a quadcopter based hardware in loop laboratory test bed. This testbed will provide a platform for the students to evaluate different control techniques i.e. PID, MPC and others In terms of various performance parameters like Transient Response, Steady state error and stability. It will also provide an opportunity for them to learn the Aerodynamics concept (Movement of Roll, Pitch and yaw) and Data acquisition. Mathematical modeling of the quadcopter and representation of the derived state space equations will enable the student to bridge and implement their theoretical knowledge on a real time hardware. The development of Simulink Model will develop an understanding of Matlab Simulations amongst the students and they will be able to apply their knowledge on a hardware setup. As a whole this project will enhance their ability to understand the practical need of control systems and an understanding of how the parameters like Transient response, Steady State Error and Stability improve the performance of a complex system.

Technical Details of Final Deliverable

This project has three major deliverables. They are as follow:

1.       Quadcopter Testbed

The first major deliverable of this project is the Quadcopter testbed. Since the major objective of this project is to provide the students with a hardware platform to understand and apply their control techniques on a practical setup, A complete hardware has been developed. The major components of this hardware setup include:

• 4 Electronics Speed Controls (30A)
• 4 Motors (1400kv)
• 4 Sets of propellers
• An arduino Uno Microcontroller
• A Quadcopter Model
• An IMU (with built in Gyros and Accelerometers)
• Connecting wires

2.       Simulink Model

The next deliverable of this project is a Simulink Model which acts as a virtual Laboratory for the students to process and implement their control techniques. This Simulink Model  consists of the following major sections:

• A control section where the controller will be operated
• A motor mixer
• A Visualization Area
• Sensors

This Simulink Model has been brought in loop with the hardware Quadcopter setup. The Arduno Microcontroller has been used to bring the host Pc( Pc with Simulink Model) and the hardware setup in loop with each other. Serial  communication has been used between the host Pc and the Arduino Microcontroller. Arduino has further been connected with the ESC’s and the Motors to operate the hardware with respect to the inputs from the Simulink Model. The output parameters of the Quadcopter testbed have been monitored through Gyro Feedback and has been displayed in the Simulink Visualization Area I graphical form.

3.       Hardware in loop Testing and Data Acquisition

The final deliverable of the project involves the process of  hardware in loop testing by comparing the input  reference values with the values of the output parameters to make sure that the hardware setup is responding according to the inputs being fed in it.Moreover, these parameters have been displayed on Simulink Visualization Area to fulfill the purpose of Dat Aquisiton.

Final Deliverable of the Project

HW/SW integrated system

Type of Industry

Others

Technologies

Robotics

Sustainable Development Goals

Quality Education

Required Resources

If you need this project, please contact me on contact@adikhanofficial.com