A SELF-BALANCING QUADCOPTER DESIGN WITH AUTONOMOUS CONTROL
A SELF-BALANCING QUADCOPTER DESIGN WITH AUTONOMOUS CONTROL
H. S. M. M. Caldera1, B. W. S. Anuradha1, D. M. G. K. P. Udgeethi1, A. A. T. Surendra1, B. R. Y.
Dharmarathne1, R. D. Ranaweera2, D. Randeniya2
1Department
of Mechatronics Engineering, South Asian Institute of Technology and Medicine, Sri Lanka,
Email:shehanmalaka.c@gmail.com
2Department of Electrical and Electronic Engineering, University of Peradeniya, Sri Lanka
Email:rdbranaweera@ee.pdn.ac.lk
Abstract
The unmanned aerial vehicles became popular in most research works related to flight controls, control systems, aerodynamic designing and robotics, a quadcopter is considered as a modern application of the above listed fields of interests. This research presents the design of a quadcopter with the motor, propeller selections and balancing mechanical structure and the implementation of the control system. The control design of the quadcopter is decided to be different from the common design, giving two propeller power at a given single motion. The control system is powered by a dsPIC microcontroller, the onboard range detectors, gyroscopes and accelerometers provide the look ahead features, making it possible to achieve an autonomous control of the quadcopter.
Key words: Quadcopter, UAV, Complementary filter, Position control, Motor control, Motor drive
1.
Introduction
An aerial vehicle (AV) is considered as a transport medium through the air which are made in different scale factors. The scale is determined according to the application it is used. The AVs which are manufactured in small scales also known as unmanned aerial vehicles (UAVs), often engage in applications such as military and law enforcement operations, aerial imagery and filming, first responders in unethical environments for search and rescue [3], and research platforms for various fields.
Most of these applications require UAVs which are capable of hovering in the air, therefore mini scale airplanes do
H. S. M. M. Caldera1, B. W. S. Anuradha1, D. M. G. K. P. Udgeethi1, A. A. T. Surendra1, B. R. Y.
Dharmarathne1, R. D. Ranaweera2, D. Randeniya2
1Department
of Mechatronics Engineering, South Asian Institute of Technology and Medicine, Sri Lanka,
Email:shehanmalaka.c@gmail.com
2Department of Electrical and Electronic Engineering, University of Peradeniya, Sri Lanka
Email:rdbranaweera@ee.pdn.ac.lk
Abstract
The unmanned aerial vehicles became popular in most research works related to flight controls, control systems, aerodynamic designing and robotics, a quadcopter is considered as a modern application of the above listed fields of interests. This research presents the design of a quadcopter with the motor, propeller selections and balancing mechanical structure and the implementation of the control system. The control design of the quadcopter is decided to be different from the common design, giving two propeller power at a given single motion. The control system is powered by a dsPIC microcontroller, the onboard range detectors, gyroscopes and accelerometers provide the look ahead features, making it possible to achieve an autonomous control of the quadcopter.
Key words: Quadcopter, UAV, Complementary filter, Position control, Motor control, Motor drive
1.
Introduction
An aerial vehicle (AV) is considered as a transport medium through the air which are made in different scale factors. The scale is determined according to the application it is used. The AVs which are manufactured in small scales also known as unmanned aerial vehicles (UAVs), often engage in applications such as military and law enforcement operations, aerial imagery and filming, first responders in unethical environments for search and rescue [3], and research platforms for various fields.
Most of these applications require UAVs which are capable of hovering in the air, therefore mini scale airplanes do