Volume 14, Issue 3 (6-2014)
Modares Mechanical Engineering 2014, 14(3): 176-184 |
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davoodi E, Rezaei M. Dynamic modeling, simulation and control of a quadrotor using MEMS sensors’ experimental data. Modares Mechanical Engineering 2014; 14 (3) :176-184
URL: http://mme.modares.ac.ir/article-15-10790-en.html
URL: http://mme.modares.ac.ir/article-15-10790-en.html
1- sahand university of technology
Abstract: (20539 Views)
This paper presents the inverted PID control of a quadrotor based on the experimentally measured sensors and actuators’ specifications. The main goal is the control and closed loop simulation of a quadrotor using inverted PID algorithm. First, a nonlinear model of quadrotor is derived using Newton-Euler equations. To have a more realistic simulation a setup were designed and developed to measure the sensors noise performance as well as the actuators’ dynamics. The setup involves a platform that two brushless motors mounted at the ends and rotates on a shaft. The platform attitude is measured using the MEMS sensors attached to it. A Kalman filter was used to reduce the sensors noises effect. Results demonstrate good performance for Kalman filter and the controller.
Article Type: Research Article |
Subject:
Mechatronics
Received: 2013/07/23 | Accepted: 2013/09/8 | Published: 2014/05/21
Received: 2013/07/23 | Accepted: 2013/09/8 | Published: 2014/05/21
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