Design, Fabrication and Control of a Tilting-Rotor Quadrotor

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Bagheri, Alireza | 2020

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 53322 (08)
University: Sharif University of Technology
Department: Mechanical Engineering
Advisor(s): Nejat, Hossein; Behzadipour, Saeed
Abstract:
This project deals with the design, fabrication and control of a tilting-rotor quadrotor. This type of UAV can have high maneuverability in all 6 degrees of freedom (3D attitude and 3D position). The rotor axes can be tilted independently to produce desired force and torque vectors. This capability resolves limitations of the classic quadrotors and provides independent control of orientation and position. To control this UAV, we have proposed a control scheme relating the desired trajectory to the required forces and torques. Then a PID controller for the simultaneous control of position and attitude is designed. This controller is tested in a simulation and the results show that the control system performs well in tracking of the desired attitude and position simultaneously. For the initial practical tests of this UAV, a test stand with three degrees of freedom is designed and built. Then the ability of UAV to track the desired attitude independent of the linear acceleration commands is tested. Finally, a stable hovering flight was performed while maintaining a roll angle of about 20 degrees
Keywords:
Attitude Control ; Position Control ; Proportional-Integral-Derivative (PID)Control ; Tilt-Rotor Quadcopter ; Unmanned Aerial Vehicles (UAV) ; Maneuverability ; Hover Flight

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