Projeto, identificação e controle de uma plataforma de quadrirotor

Abstract

This project presents the development of the acquisition and control system of an experimentalquadrotor platform with its rotors arranged in plus con guration (\+"). This platform can becon gured with two or three degrees of freedom, allowing the study of its angular movementsof Roll, Pitch and Yaw. System modeling is performed by the virtual prototyping methodwith the aid of SolidWorks and ADAMS softwares. The rst one was used to build the 3Dvirtual prototype and to identify its mass properties. The second one is based on multibodymodeling techniques and is used to obtain the dynamic equations of the system and to generateits linear and nonlinear models. The control techniques employed to stabilize the aircraft'sattitude are the tracking system with eigenstructure assignment, LQR-I and PI inspired by theOpenpilot ight controller. The MATLAB/Simulink software was used for the construction,simulation and tuning of these controllers. To implement the control strategies and valida-tion of the obtained models in the experimental platform, a wired and wireless acquisitionsystem were developed to read the sensors and drive the actuators of the system. For the rst one, a PCI-6602 acquisition board from National Instruments has been integrated withMATLAB/Simulink software to perform aircraft control. However, the connecting cables ofthe sensors and actuators limited the yaw movement of the platform. Therefore, two wirelessacquisition architectures were implemented in an embedded system on a NXP FRDM-K64Fboard. These con gurations allowed the use of the microcontroller as a wireless acquisitionboard, where the interaction with MATLAB/Simulink software is based on radio frequencycommunication through serial protocols, eliminating the connection cables. In addition, forone of the wireless architectures, the control techniques were embedded in the FRDM-K64F'smicrocontroller and a radio control interface was developed. This aspect is important forthe study of the decoupled quadrotor in future works, transforming this embedded systeminto a simple ight controller. In order to validate this project, the controllers were appliedto the control plant and the results, were compared with the simulated system responses.The results were satisfactory, since the models represented the experimental platform beha-vior. The best performing control technique was the PI controller based on the Openpilot project.