implementation of pd controller in attitude of quadcopter
DESCRIPTION
By adopting DCM for sensor fusion and simple PD-controller, we can control the attitude of quadcopterTRANSCRIPT
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The QuadrocopterWith Remote Control over Computer Inter-
faceAnd Indoor Modeling
2013 Spring 설계과제 5 조 - 김유정김병진 , 유택근 , 정혜윤
지도교수 – 김상우 교수님
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Objectives
Attitude Control
Sensor Fusion
Simple PID Controller
Position Control
Applications
Indoor modeling
Other related field application
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Progress(1) Hardware & Circuit
Reduce Mechanical Noise
Damper + α-gel
Embedded System
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Progress(2) Embedded Works
ATMega128
MotorDriver x 4
Accelerometer
Gyroscope
Magnetometer
ATTiny
RC Receiver
Double MPU(ATmega+ATtiny) because Lack of Pe-ripheral
Digital Sensor/Driver to avoid Analog noise
Wireless Zigbee to debug/indicator
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Progress(3) Directional Cosine Matrix
Gyroscope
WeightedSum
Σ Σ𝐴𝑡𝑡𝑖𝑡𝑢𝑑𝑒=(𝑟 𝑎 ,𝑝𝑎 , 𝑦𝑎)
PI Feedbac
k
Magnetometer
Accelerometer
Orthogonality
Calibration-+
Transform Sensors Coordinate to match each other
Find Appropriate Values of , , Weighted Sum Encoder + Raw Sensor data fitting in MATLAB
(0.58), (0.001), Weighted Sum()
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Progress(3) Directional Cosine Matrix
Encoder(Black)
Blue(Pitch from DCM)
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Progress(4) PID Controller & Motor Control
MotorController
Motor 1
Motor 2
Motor 3
Motor 4
𝑅𝐶=(𝑟 𝑅𝐶 ,𝑝𝑅𝐶 , 𝑦𝑅𝐶)
𝐴𝑡𝑡𝑖𝑡𝑢𝑑𝑒=(𝑟 𝑎 ,𝑝𝑎 , 𝑦𝑎)
AttitudeController
Σ-+
Calibrate Sensors Coordinate
Find Appropriate Values of , , Weighted Sum
Need to further Control Algorithm
RC Receiverh𝑇 𝑟𝑢𝑠𝑡
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Results
FULL Hardware & Circuit & Embedded
Robust Sensor Fusion Algorithm
Good Attitude Control, But
Youtube Links
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Future Works
Hovering
Altitude Control
Position Control
Applications
Indoor modeling
Other related field application
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Thank you for listeningReferences
William Premerlani and Paul Bizard, “Direction Cosine Matrix IMU: Theory ”, May 2009
Nguyen Ho Quoc Phuong and Hee-Jun Kang, “A DCM Based Orientation Estimation Algorithm with an Inertial Measurement Unit and a Magnetic Compass”, Feb 2009
Compass Calibration
http://www.vectornav.com/support/library?id=83
Ellipsoid fitting
http://www.mathworks.com/matlabcentral/fileexchange/24693-ellipsoid-fit