System identification of a quadrotor UAV

Turgay Kale / Gleser Kalayc Demir

Overview

Scope Literature My studies and goal

Basic concepts
Kinematics and dynamics

Simulink model
Things to do

Evaluation

Scope

Understanding the law and facts behind the flight of an UAV Dynamic modelling of a quadrotor Controlling of a rigid quadrotor plant Building a Simulink model of the entire flight system Evaluation of simulation test benchmark

Literature
Project owner Bauabdallah University
COLE POLYTECHNIQUE FDRALE DE LAUSANNE

Control method Backstepping, PID, Optimal control, Sliding mode

Picture

Fower

Brigham Young University

Visual feedback

MD4-200R

Micro Drones Gmbh

PI

Weng & Shukri

Universiti Teknologi Malaysia

PID

Literature
Project owner Starmac University
Stanford University

Control method Reinforcement learning

Picture

Hanford

Pennysylvania University

PI

HMX4

Micro Drones Gmbh

Feedback linearization

My studies & goal

Efforted in data correction of Sparkfuns ultimate imu Data acquisition & filtering effort with 9-dof Imu

Arduino platform

Open source libraries : SD card Proper peripheral units for control Worldwide support 9 degree-of-freedom IC support Cheap cost & good feedbacks

Pololu IMU-9

Dynamic modelling effort in Matlab/simulink To complete accurate simulink model (goal)

Basic concepts
Quadrotor movements are ensured by controlling the rotational speeds of 4-rotors

Throttle (N)

Roll (N.m)

Pitch (N.m)

Yaw (N.m)

Kinematics

Position and attitude vector with respect to E-frame

Linear position vector : Angular attitude vector : w.r.t. E-frame

Generalized position vector

Kinematics

Rotations between E-frame and B-frame

Kinematics

Hence overall rotating matrice

is

Velocity vectors with respect to B-frame

Linear velocity vector : Angular velocity vector :

Generalized velocity vector w.r.t. B-frame

Kinematics

Thus it is possible that

and

where

As a result and

Hence the equivalent form of statements becomes,

Dynamics

Newton-Euler formulation is adopted Three assumptions are made to decrease the computation complexity

Inertia matrix is time-invariant (fundamental) Origin of the body-fixed frame is assumed as the center of mass (COM)

In hovering condition, moment of inertia matrix I is approximately diagonal

From the Eulers first axiom of the Newtons second law ;

Dynamics
From Eulers second axiom of the Newtons second law ;

where is quadrotor total mass is body inertia matrix (in the body-fixed frame)

is rotation matrix derivative

is torque vector w.r.t. E-frame is force vector w.r.t. E-frame

Dynamics

By associating two axioms, it is possible to define motion dynamics of rigid

body. Below equation shows the matrix formulation of dynamics.

(1)
where , means an identity matrix with dimension 3 times 3. First matrix in

equation is diagonal and constant.

Lets define a generalized force (including torque) vector as;

Dynamics
Therefore it is possible to rewrite equation (1) in matrix form

where

is generalized acceleration vector w.r.t. B-frame

is system inertia matrix w.r.t. B-frame is Coriolis-centripetal matrix w.r.t. B-frame

Dynamics

generalized force vector can be splitted into three components according

to the nature of quadrotor contributions.

First contribution is gravitational vector

Second contribution is gyroscopic effects produced by the propeller rotation.

Dynamics

where

is total rotational moment of inertia.

Third contribution is aerodynamic effects produced by main movements. In this phenomenon, forces and torques are assumed to be proportional to squared propellers speed.

where

is movement matrix

Dynamics
Hence, it is possible to describe the dynamics considering these last three

contributions according to equation (1) .

By re-arranging , it is possible to write equation (23) ;

Dynamics

Hybrid model
Generalized velocity vector in hybrid notation called H-frame ;

By rewriting in a matrix form based on H-frame ;

Dynamics

Dynamics
By re-arranging , it is possible to write ;

Hence it is possible to write system equations in hybrid system as below ;

Simulink model
PI/PID task control commands + quadrotor plant

control

dynamics

sensors
IMU 9-dof IR position tracking

states

Things to do

Complete simulink model Benchmark test results & restorate model Hardware implementation & tests (partialy optional)

Design 3D computer simulation model based on openGL (optional)

Port simulink model blocks to microsoft .net framework (optional)

End of defence