Modeling and Control of a Quad-rotor Helicopter
Author | : Sang Min Oh |
Publisher | : |
Total Pages | : 63 |
Release | : 2012 |
ISBN-10 | : OCLC:857772254 |
ISBN-13 | : |
Rating | : 4/5 ( Downloads) |
Download or read book Modeling and Control of a Quad-rotor Helicopter written by Sang Min Oh and published by . This book was released on 2012 with total page 63 pages. Available in PDF, EPUB and Kindle. Book excerpt: The quad-rotor helicopter is a UAV (Un-manned Air Vehicle) and has four rotors. To get efficient stabilization status, data measurement and analysis phase, and simulation and control phase are needed. During data measurement and analysis phase, people are struggling with inaccurate data due to the external disturbance or the battery issue. The author tried to get the moment of inertia of the quad-rotor helicopter as accurate as possible based on the experimental data. During simulation and control phase, the author applied PD (Proportional, Derivative) controller. First of all, trying to satisfy stabilization for the ideal case, which means all motors have same thrusts and speeds. Then the real motor values were applied to see the success of the controller's performance.