Modelagem e controle de um helicóptero quadrirotor

Abstract

The Unmanned Aerial Vehicles (UAVs) have been used in many applications, from simple model aircrafts to complex military systems, affecting directly and indirectly the global market and our society. The development, commercialization and application of these technologies have required constant advances over many areas of techonology, some of them including stability control, flight autonomy, track planning and computational intelligence. Thus, in this completion of course work it is intended to elaborate a stability control system, using PD (Proportional and Derivative) and PID (Proportional, Integrative and Derivative) control strategies, adjusted with classical techniques and then optimized using computational intelligence methods, considering a bio-inspired metaheuristic, aiming to compare the stability behavior between the two adjustment forms. In order to do this, it is proposed to model and control the flight stability of a quadrirotor in simulation, which uses data and physical parameters obtained with a prototype consisting of a set of four brushless motors, four propellers, a frame constructed using 3D printing, four Electronic Speed controllers (ESCs), a battery and a processing unit. The mathematical modeling of the prototype was performed using the Newton-Euler method. To acquire the physical data of the engines and propellers used in the prototype, a data acquisition platform was built, which allows the creation of a methodology for the acquisition of different models of brushless motors and propellers, aiming at significantly reducing the standard deviation of the Results obtained, since they consist of mechanical assemblies subject to vibrations and friction losses. At the end of the project, a computationally optimized control technique is sought through a bio-inspired metaheuristic, as well as a consistent mathematical model, which will allow the future shipment of the flight stability algorithm in the built quadrirotor prototype.