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Design and Smooth Motion Control of A Quadrotor Helicopter

Author: PangQingZuo
Tutor: HuangWenHao
School: University of Science and Technology of China
Course: Measuring Technology and Instruments
Keywords: Quadrotor Helicopter modelling Kalman Filtering PID VTOL
CLC: V249.1
Type: Master's thesis
Year: 2011
Downloads: 1033
Quote: 5
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Abstract


The broad application requirements in both military and civilian markets stimulate the development of Quadrotor Helicopter related projects due to their advantages over regular air vehicles. In this work, Dynamic mathematical model of Quadrotor Helicopter was established. A Quadrotor Helicopter was designed and fabricated, with Kalman Filtering is used for attitude calculation and PID control is utilized for attitude control. The flight control system determines the various flight performance of Quadrotor Helicopter.Firstly,I have completed the flight control system hardware and software design,such as the hardware circuit design, device selection, software design and so on. Great deal of debugging was carried out, which means removing bugs from programs. The defects exist in the electronic hardware were solved in the process of debugging.Secondly,The establishment of a perfect Quadrotor Helicopter fight control system platform will be helpful to further expand on Quadrotor Helicopter flight navigation research, control algorithm design,and control system development. The subject lays a solid foundation for further research on a new type of multi-purpose unmanned aerial vehicle(UAV)which would meet different conditions.Finally, Experimental results show that the established dynamics model is effective to the designed Quadrotor Helicopter. Our designed Quadrotor Helicopter presents excellent performance on some key technical indices, as the accuracy control of the Quadrotor Helicopter (attitude and position) and the vertical take-off and landing (VTOL).Experiments on a prototype of Quadrotor Helicopter are given to demonstrate the effectiveness and feasibility of the proposed scheme.

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CLC: > Aviation, aerospace > Aviation > Aircraft instrumentation,avionics, flight control and navigation > Flight control system and navigation > Flight control
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