Īll these platforms represent experimental tools that allow students to evaluate and tune control algorithms, which operate based on the application of inertial devices such as micro-gyroscopes that measure the angular velocities and positions of the system. In university laboratories, it is also common to find the use of different types of inverse pendulums for teaching control systems. Hardware-in-the-loop (HIL) platforms represent an effective approach in UAV design due to their potential to execute simulations and experiments.
#QUADCOPTER GEOMETRY X SOFTWARE#
There are also educational multi-rotor platforms such as, with intuitive software that allows the basic learning of aerodynamic principles. įrom a teaching perspective of control systems involved with UAVs, some contributions presented are the software platform, in which detection, tracking and control algorithms can be evaluated and tested all together in a 3D graphical tool.
For this reason, there is a necessity to use test platforms that allow an easier transition between numerical and experimental analysis, by evaluating the performance of a controller under a safe environment for user and vehicle, without any risk of collision. Most control systems require an experimental phase on the physical system for validation, since unexpected performances may occur as a consequence of limitations in the control design, e.g., unmodelled dynamics. The design of an attitude control algorithm for a quadcopter requires a long period of development including analysis under simulation and flight testing. However, educational platforms based on multirotors are very challenging in terms of design and control due to their nature of operation, as they require moving in a three-dimensional space.
Trends imply that analyses on quadcopters are becoming more and more relevant in the field of aerial robotics, as they are considered very practical prototypes in university teaching to promote programming and robotics skills. This type of UAV are widely used as experimental platforms due to their mechanical simplicity and inherent robustness. There are several configurations for this type of aircraft and one of the most widely used is the quadcopter, whose flight stability is defined by regulation of revolution speed between its four motors. Specifically, vertical take-off and landing (VTOL) aircraft are of special interest since they do not need a runway to perform take-off or landing manoeuvres. Recently, unmanned aerial vehicles (UAVs) have shown a remarkable advance in their technological development. The result of this work is an open test bench, enabled for the experimentation of control algorithms using Matlab-Simulink. The second approach is by means of State Feedback, oriented to students with more advanced level in this field. The first approach is through PID control, oriented for undergraduate students with basic level in control theory. In this work, to show the operation and didactic use of the platform, the development of the controller for tilt angle stabilization under two different approaches are presented. The possible controller design approaches for quadcopter stabilization can extend to many basic and advanced techniques. At the same time, the main characteristics with respect to existing platforms are highlighted in aspects such as: system autonomy, cost, safety level, operation ranges, experimental flexibility, among others. In this context, the main features of the mechanical and electronic design of this prototype are described. It is constituted by a gyroscopic structure that allows the movements of a quadcopter to analyze the control systems. This work focuses on the design and construction of an experimental test bench of three degrees of freedom with application in educational environments.
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