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Mathematical Dynamics, Kinematics Modeling and PID Equation Controller Of QuadCopter
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M. Etemadi   |
| M.Eatemadi, Department of Electrical Engineering, Lashtenesha-Zibakenar Branch, Islamic Azad University, Lashtenesha, Iran |
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Abstract: (7247 Views) |
| Abstract Quadcopter is the Unmanned Aerial Vehicle that can vertical tack off and landing. its useful platform for many applications in Commercial, civil or military . In this article ,we present the Dynamics and Kinematics model of quadcopter and the effect of forces by introducing two frames on the ground and it’s body, also we design and implement the PID controller then found the best way of manual tuning for adjusting the PID coefficient in Symmetric quadcopter , we use the 10 DOF IMU consist of three axis gyroscope ,accelerometer and magnetometer with three PID controller for Roll, Pitch, Yaw angle and the separate PID controller for altitude of quadcopter Robot, also build it based on extracted result. |
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| Keywords: Quad copter, PID controller, Dynamics model, Unmanned Aerial Vehicle |
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Full-Text [PDF 2804 kb]
(14089 Downloads)
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Type of Study: Applicable |
Subject:
Special
Received: 2016/09/14 | Accepted: 2017/12/19 | Published: 2017/12/19
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