University of Khartoum

Autopilot Design For A Quadcopter

Autopilot Design For A Quadcopter

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Title: Autopilot Design For A Quadcopter
Author: Abdallah, Rayyan Salah Mohammed
Abstract: Unmanned aerial vehicles (UAVs) are being increasingly used today than ever before in both military and civil applications. The rapid advancement in miniature sensors, actuators and processors has led to the development of powerful autopilot systems which play a major role in UAVs control by making the flight safer and more efficient. These Autopilots gave a rise to small sized, interestingly featured commercial UAVs, one of which is the quadcopter. This thesis work presents detailed derivation of the mathematical model of the quadcopter system. Firstly, the frames of reference are introduced along with system kinematics. The nonlinear dynamic equations, including all aerodynamic effects, are formulated using Newton-Euler method. Secondly, the derived mathematical model is simulated using Matlab/Simulink environment and then open loop testing is performed for verification. Thirdly, the system model is linearized around equilibrium point (hovering). Next, improved PID controllers are designed and applied to the linearized model. These controllers are designed using Simulink SISO tool with significant improvements that are not discussed in other literatures. The quadcopter components are selected based on system requirements. Several experiments are performed to verify their operation. The autopilot board selected is APM 2.7 which allows easy implementation of PID controller. The quadcopter platform is then assembled and the designed attitude controller is implemented on APM. As a next step, the real system response concerning stability and reference tracking is examined using experimental setup and locally built Bluetooth ground control station (GCS). Finally, a comparison is made between simulated system and real system responses upon which the recommendations of future work are stated
URI: http://khartoumspace.uofk.edu/123456789/25802
Date: 2017


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