Loading...

Modeling and Simulation of a 6DOF Quadrotor Helicopter

Mirsalehan, Mahmoud | 2012

1323 Viewed
  1. Type of Document: M.Sc. Thesis
  2. Language: English
  3. Document No: 43354 (58)
  4. University: Sharif University of Technology, International Campus, Kish Island
  5. Department: Science and Engineering
  6. Advisor(s): Selk Ghafari, Ali; Zabihollah, Abolghasem
  7. Abstract:
  8. The aerial vehicle capable of vertical takeoff and landing (VTOL), have created an interest in the community of researchers and admirers of Unmanned Aerial Vehicles. Among the existing UAV's, those with the capability of vertical takeoff and landing are prominent due to their higher maneuverability and hover capability. Quadrotors mostly have been considered as a flying robot for save and rescue operations in dangerous and unreachable places in addition to its military application. In cross shape of Quadrotor platform on each edge is appointed an electric motor with light rotors that usually are controled by considering motor rates as their only inputs. This thesis aims, to simulate and control a model of quadrotor. This work introduces a self gain tuning through a fuzzy gain scheduling to tune a PID controller for the quadrotor model. In the first phase we studied the dynamic model of Quadrotor with a bond graph approach. After identifying equations of dynamic model, resulted in the implementation of the model on simulation environment Matlab / Simulink ®, we studied the structure of a self tuning fuzzy controller determine our control strategy based on the PID control to identify the fuzziness for this application. This study is conducted for autonomous tracking of a quadrotor in a pre-determined path. In this regard, a corresponding system dynamics including gyroscopic effect is simulated and the control method with tuning PID parameters is then applied. Due to the Interaction of the airflow, the rotation of rotors makes the system dynamic nonlinear and hard to simulate. To overcome such a problem, we are dealing with an appropriate gain tuning and optimization approach. It is also noteworthy that MATLAB 8 software was employed for the design simulation.

  9. Keywords:
  10. Modeling ; Bond Graph ; Fuzzy Control ; Optimization ; Quadrotor Helicopter

 Digital Object List

 Bookmark

No TOC