Quadcopter

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

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. The measured angles are derived from a gyroscope and accelerometer mounted on the quadcopter base.

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

Control Controllers were designed based on the H-inf mixed sensitivity and SIMC methods