University of Khartoum

Autopilot Design For A Quadcopter

Autopilot Design For A Quadcopter

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Title: Autopilot Design For A Quadcopter
Author: Hussein, Amir Nasir Babiker
Abstract: Autopilot systems play a very crucial role in Unmanned Arial vehicles (UAVs) control by making the flight safer, easier and more efficient. These systems ensure UAVs’ stability, disturbance rejection and trajectory tracking without human intervention. Moreover, they are the base of autonomous flight navigation which has very important applications especially in hazardous environments that are dangerous for humans. The work in this thesis presents full approach of the concerning design and implementation of control system for six degrees of freedom, four rotors unmanned aerial vehicle known as quadcopter. Firstly, different forces acting on the system and aerodynamic effects are analyzed. Then, detailed mathematical nonlinear model of the quadcopter is formulated based on Newton-Euler equations. Next, the model is developed and tested in Matlab\Simulink environment. After that it is linearized around hovering point. Then, improved PID controller is designed for the linear model. Controllers are designed using Simulink SISO Tool and verified in the nonlinear simulated model. Designed controllers are used in building full autopilot system for translation as well as orientation with significant improvements that are not found in other literatures. The components of the quadcopter are carefully selected according to desired specifications. Then, several experiments are done to verify their performance. The quadcopter is assembled and the designed attitude controller system is implemented using APM 2.7 flight controller. The performance of the controller regarding stability and reference tracking is tested through three degree of freedom experimental configuration. Ground station system is developed through which signals are sent to computer via Bluetooth module which allows real time debugging and analysis of a system. Finally, conclusion is made based on comparison between experimental and theoretical results and thus recommendations for future work are stated.
URI: http://khartoumspace.uofk.edu/123456789/25788
Date: 2017


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