Chemical Engineering @ UP wiki - User contributions [en]

Quadcopter

2018-11-12T09:51:34Z

Jonathan van Niekerk:

== Introduction ==
The quadcopter rig consists of a quadcopter mounted on a stanchion. The control objective is to regulate the speed of the motors to maintain a hover position that is horizontal to the rig's base plate.

==2018 - Jonathan van Niekerk==

[[File:QuadRig.png|200px|left|thumb]]

'''Build'''
The quadcopter is based on a commercially available F450 frame and Arduino Uno controller. A LiPo battery provides flight autonomy of about 15 min and the high current capacity required by the motors. The motors are fitted with 1045 propellers capable of providing the required thrust force to overcome gravity. Electronic speed controllers convert pulse width modulated signals from the Arduino Uno to 3-phase alternating current signals required to drive the motors. The measured angles are derived from a gyroscope and accelerometer mounted on the quadcopter base. The gyroscope and accelerometer needs to be calibrated after power is lost to the inertial measurement unit. The rig is required to prevent the quadcopter from damaging itself during trials, to prevent injury to students and to harness the quadcopter should the control system fail and the system become unstable.

'''Modelling'''
The quadcopter is modelled mathematically from angular velocity, Euler kinematic, velocity and position state equations. A linear model is derived based on small angle deviations around the point of equilibrium. Equilibrium is when the roll, pitch and yaw angles are zero. Step test experiments are performed to validate the mathematical model, and curves are fitted to obtain the transfer function models.

'''Control'''
Controllers were designed based on the H-inf mixed sensitivity and SIMC methods. Controllers based on the fitted transfer functions achieved better results that those based on mathematical models.

Quadcopter

2018-11-12T09:47:20Z

Jonathan van Niekerk:

== Introduction ==
The quadcopter rig consists of a quadcopter mounted on a stanchion. The control objective is to regulate the speed of the motors to maintain a hover position that is horizontal to the rig's base plate.

==2018 - Jonathan van Niekerk==

[[File:QuadRig.png|200px|left|thumb]]

'''Build'''
The quadcopter is based on a commercially available F450 frame and Arduino Uno controller. A LiPo battery provides flight autonomy of about 15 min and the high current capacity required by the motors. The motors are fitted with 1045 propellers capable of providing the required thrust force to overcome gravity. Electronic speed controllers convert pulse width modulated signal from the Arduino Uno to 3-phase alternating current signals required to drive the motors. The measured angles are derived from a gyroscope and accelerometer mounted on the quadcopter base. The gyroscope and accelerometer needs to be calibrated after power is lost to the inertial measurement unit. The rig is required to prevent the quadcopter from damaging itself during trials, to prevent injury to students and to harness the quadcopter should the control system fail and the system become unstable.

'''Modelling'''
The quadcopter is modelled mathematically from angular velocity, Euler kinematic, velocity and position state equations. A linear model is derived based on small angle deviations around the point of equilibrium. Equilibrium is when the roll, pitch and yaw angles are zero. Step test experiments are performed to validate the mathematical model, and curves are fitted to obtain the transfer function models.

'''Control'''
Controllers were designed based on the H-inf mixed sensitivity and SIMC methods. Controllers based on the fitted transfer functions achieved better results that those based on mathematical models.

Quadcopter

2018-11-12T09:36:46Z

Jonathan van Niekerk:

Quadcopter

2018-11-12T09:36:18Z

Jonathan van Niekerk:

Quadcopter

2018-11-12T09:29:01Z

Jonathan van Niekerk:

Quadcopter

2018-11-12T09:23:40Z

Jonathan van Niekerk:

Quadcopter

2018-11-12T09:20:39Z

Jonathan van Niekerk:

Quadcopter

2018-11-12T09:00:41Z

Jonathan van Niekerk: /* 2018 - Jonathan van Niekerk */

== Introduction ==
The quadcopter rig consists of the a quadcopter mounted on a stanchion. The objective of the rig is to...

==2018 - Jonathan van Niekerk==
'''Build'''
[[File:QuadRig.png|200px|left|thumb]]Updated build info.

'''Modelling'''
Update modelling info.

'''Control'''
Update control info.

File:QuadRig.png

2018-11-12T08:57:35Z

Jonathan van Niekerk: Jonathan van Niekerk uploaded a new version of File:QuadRig.png

File:QuadRig.png

2018-11-12T08:57:22Z

Jonathan van Niekerk: Jonathan van Niekerk uploaded a new version of File:QuadRig.png

File:QuadRig.png

2018-11-12T08:54:34Z

Jonathan van Niekerk:

Quadcopter

2018-11-12T08:53:54Z

Jonathan van Niekerk:

== Introduction ==
The quadcopter rig consists of the a quadcopter mounted on a stanchion. The objective of the rig is to...

==2018 - Jonathan van Niekerk==
'''Build'''
[[File:QuadRig.png|500px|left|thumb]]Updated build info.

'''Modelling'''
Update modelling info.

'''Control'''
Update control info.

Quadcopter

2018-11-12T08:48:06Z

Jonathan van Niekerk: /* Introduction */

== Introduction ==
The quadcopter rig consists of the a quadcopter mounted on a stanchion. The objective of the rig is to...

==2018 - Jonathan van Niekerk==
'''Build'''
Updated build info.

'''Modelling'''
Update modelling info.

'''Control'''
Update control info.

Quadcopter

2018-11-12T08:44:51Z

Jonathan van Niekerk: /* Introduction */

== Introduction ==
The quadcopter rig consists of the a quadcopter mounted on a station. The objective of the rig is to...

==2018 - Jonathan van Niekerk==
'''Build'''
Updated build info.

'''Modelling'''
Update modelling info.

'''Control'''
Update control info.

Quadcopter

2018-11-12T08:44:33Z

Jonathan van Niekerk: Created page with "== Introduction == The quadcopter rig consists of the a quadcopter mounted on a station. The objective of the rig is to. ==2018 - Jonathan van Niekerk== '''Build''' Updated..."

== Introduction ==
The quadcopter rig consists of the a quadcopter mounted on a station. The objective of the rig is to.

==2018 - Jonathan van Niekerk==
'''Build'''
Updated build info.

'''Modelling'''
Update modelling info.

'''Control'''
Update control info.

File:Quadcopter.docx

2018-11-12T08:43:30Z

Jonathan van Niekerk:

PMC Lab

2018-11-12T07:40:24Z

Jonathan van Niekerk:

The Process Modelling & Control lab currently contains five working rigs. The [[Opto 22]] unit is usually refered to as the sixth rig. Equipment on the rigs (and in the lab) is discussed in the lab equipment section. The lab manual is available [http://ragnarok.up.ac.za/documents/labmanual.pdf here]. New users wanting to set up computers and software should have a look at [[PMC Lab Users|this page]].

== Rigs ==
For the rigs in the Tribology labs, see [[Tribology|this page]].

<big>'''[[Acetone Flashing]]'''</big>

The acetone flashing rig is a four by four control problem. You can find the documentation [http://ragnarok.up.ac.za/Rigs/01_Acetone/ here].

<big>'''[[pH Loop]]'''</big>

This rig demonstrates pH control. You can find the documentation [http://ragnarok.up.ac.za/Rigs/02_pH/ here].

<big>'''[[Temperature Control]]'''</big>

The temperature control rig was rebuilt by Ivan and David in 2005. You can find the documentation [http://ragnarok.up.ac.za/Rigs/03_Temperature/ here].

<big>'''[[Level and Flow]]'''</big>

Level and Flow is one of our favourite rigs. You can find the documentation [http://ragnarok.up.ac.za/Rigs/04_Level_and_flow/ here].

<big>'''Distillation Columns'''</big>

There are two distillation columns in the chemical engineering laboratories;
* documentation for the [[small distillation column]] (in the PM&C lab) can be found [http://ragnarok.up.ac.za/Rigs/05_Distillation/ here].
* information on the column [[big distillation column]] (between the 3rd year labs and the PM&C lab) .
<big>'''[[Slug Flow]]'''</big>

This unit, copied from a setup done by Ingvald Bårdsen under supervision of Espen Storkaas and Heidi Sivertsen at [http://www.ntnu.no/indexe.php NTNU], models severe slugging behaviour in a pipeline/riser system.
* the original information is hosted at http://www.nt.ntnu.no/users/skoge/diplom/prosjekt03/bardsen/ (this will, if anything, improve your Norwegian)
* our lab documentation is available [http://ragnarok.up.ac.za/Rigs/Slugflow/ here].

<big>'''[[Dual Fluidised Bed System]]'''</big>

This unit, intended to produce bio-oils from woody biomass, is still under construction by Stephen Swart and Prof. Heydenrych. It is intended to be completed by 2012, with the design outlined in [http://ragnarok.up.ac.za/Rigs/08_DualFluidisedBed/2011/Reference%20Material%20-%20Swart%20(2010)/CRO_700_Project%20Design%20Report.pdf Swart (2010)]. The documentation can be found [http://ragnarok.up.ac.za/Rigs/08_DualFluidisedBed/ here].

<big>'''[[Ball and Plate Control Rig]]'''</big>

This rig is a rapid prototyping and test unit for control systems, consisting of the task of stabilisation and reference tracking of an open loop unstable system.

<big>'''[[Quadcopter]]'''</big>

Implement an Arduino Uno based control system to stabilise the quadcopter in a hover position.

== Lab equipment ==

Equipment for the rigs are (should be) documented on their respective pages. Some additional equipment in the PMC lab include;
* [[PMC testing equipment|Testing equipment]]

== Contact Details ==

<big>'''[[Burkett Valves]]'''</big>

<big>'''[[Opto Controls]]'''</big>

<big>'''[[Mantech Electronics]]'''</big>