Mathematical Modeling of the Coaxial Quadrotor Dynamics for Its Attitude and Altitude Control

Giernacki, Wojciech; Gośliński, Jarosław; Goślińska, Jagoda; Espinoza-Fraire, Tadeo; Rao, Jinjun

doi:10.3390/en14051232

Cited by 17 publications

(11 citation statements)

References 20 publications

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“…Lebih lanjut, untuk pemodelan gerak rotasi quadrotor dapat digunakan hukum Euler yang keduanya merupakan hubungan dari torsi (𝜏) dan percepatan sudut (𝛼) serta hubungan antara momentum angular (𝐿) dan kecepatan putar (𝜔) didalamnya untuk setiap sumbu yang dialami sebuah pusat massa seperti ditunjukkan pada Persamaan (5) [11].…”

Section: Metode 21 Pemodelan Quadrotorunclassified

Peningkatan Kestabilan Quadrotor menggunakan Kendali Linear Quadratic Regulator dengan Kompensasi Integrator dalam Mempertahankan Posisi

Dhewa

Rahani²

2022

Buletin Ilmiah Sarjana Teknik Elektro

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The quadrotor's ability to maintain position is a major requirement for the completion of various current missions. However, the large steady-state error (SSE) and multiple overshoots due to environmental disturbances cause flight instability. This condition makes Quadrotor unable to complete the mission optimally. Therefore, in this study applying a linear quadratic regulator control method, this research contributes to the addition of integrator compensation in handling the translational movement of the quadrotor. System model design testing is carried out by comparing quadrotor control using the LQR method without an Integrator and LQR with an Integrator. The value of R=1 for all states and Q_x=0.87, Q_y=124.6, Q_(v_x)=1.77, Q_(v_y)=124.6 and Ki_x=0,004, Ki_y=0.002 makes the SSE tendency that occurs 0.10 meters for the x-axis and -0.28 for the y-axis, while the multi-overshoot that occurs is 0.41 m for the maximum deviation and -1.35 m for the minimum deviation on the x-axis and 0.40 m maximum deviation and 0.47 m minimum deviations on the y axis. The test results show that the LQR control method with Integrator compensation is able to minimize and improve SSE and multiple overshoots that occur in quadrotor flights. In addition, it is able to significantly increase accuracy to 100% from 71.38% and precision to 37.71% from 35.91%.Kemampuan quadrotor dalam mempertahankan posisi menjadi kebutuhan utama untuk penyelesaian berbagai misi saat ini. Namun, besarnya steady state error (SSE) dan multiple overshoot karena gangguan lingkungan menyebabkan ketidakstabilan gerak terbang. Kondisi tersebut menjadikan quadrotor tidak mampu menyelesaikan misi secara optimal. Maka dari itu, pada penelitian ini menerapkan sebuah metode kendali Linear Quadratic Regulator penelitian ini memiliki kontribusi dengan penambahan kompensasi Integrator dalam menangani pergerakan translasi quadrotor. Pengujian desain model sistem, dilakukan dengan membandingkan antara pengendalian quadrotor menggunakan metode LQR tanpa Integrator dan LQR dengan Integrator. Nilai R=1 untuk semua state serta Q_x=0,87; Q_y=124,6; Q_(v_x)=1,77; Q_(v_y)=124,6 dan Ki_x=0,004; Ki_y=0,002 menjadikan kecenderungan SSE yang terjadi sebesar 0,10 m untuk sumbu x dan -0,28 m untuk sumbu y, sedangkan multi overshoot yang terjadi sebesar 0,41 meter simpangan maksimal dan -1,35 m simpangan minimal pada sumbu x serta 0,40 m simpangan maksimal dan 0,47 meter simpangan minimal pada sumbu y. Hasil pengujian tersebut menunjukkan bahwa metode LQR dengan kompensasi Integrator mampu meminimalkan dan memperbaiki SSE maupun multiple overshoot yang terjadi pada penerbangan quadrotor. Selain itu juga mampu meningkatkan akurasi secara signifikan sebesar 100% dari 71,38% serta presisi sebesar 37,71% dari 35,91%.

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Section: Metode 21 Pemodelan Quadrotorunclassified

Peningkatan Kestabilan Quadrotor menggunakan Kendali Linear Quadratic Regulator dengan Kompensasi Integrator dalam Mempertahankan Posisi

Dhewa

Rahani²

2022

Buletin Ilmiah Sarjana Teknik Elektro

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“…Ref. [17] is to apply LQ and LQG methodologies for quadcopter control system. For that, they developed 6-DOF mathematical model with both the rectangular position (x, y) and altitude (z) as well as the orientation (attitude -angles around the axes).…”

Section: Iiliterature Review Of Multivariable Drone Controlsmentioning

confidence: 99%

“…Because of these capabilities and applications, currently, many have been researching quadrotor design and application as well as operation for a multidisciplinary engineering education in undergraduate course and technical high schools [17,35,44]. Basically, the qua-drone is a highly nonlinear and multivariable system that is strongly coupled and has an unstable system.…”

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confidence: 99%

Dynamic Decoupling and Intelligent Optimal PID Controller Tuning of Multivariable Qua-drones

Kim¹

2021

IJRTE

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This paper deals with dynamic decoupling and its intelligent PID control method of multivariable qua-drone. Up to this time, many sophisticated intelligent algorithms and control methods for drone systems have been mentioned. However, almost many cases have been focusing on single loop control methods and general multivariable systems. Therefore, we cannot guarantee its stability and optimal response by PID control used in multivariable qua-drone. Herein, this paper suggests a novel control method for PID control for multivariable qua-drone. As first step, this paper decouples dynamic of multivariable qua-drone using diagonal method of system matrix and then applies intelligent method PSO and GA to single loop obtained by decoupling method to obtain optimal response.

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“…In order to analyze the flight dynamic characteristics of a tethered multicopter, dynamics for each of the multicopter and the electric power cable should be modeled. Giernacki et al [16] obtained information such as geometric dimen- Weight and flexural rigidity of the power cable greatly changes depending on the operating voltage and current. As tethered multicopters for rescue purposes should be able to perform hovering flight with at least one passenger on board, there should be a heavy-duty power cable installed to ensure stable power supply from the ground, which generates a relatively large effect on flight dynamics brought by changes in the weight and flexural rigidity of the cable.…”

Section: Introductionmentioning

confidence: 99%

“…In order to analyze the flight dynamic characteristics of a tethered multicopter, dynamics for each of the multicopter and the electric power cable should be modeled. Giernacki et al [16] obtained information such as geometric dimensions, masses and moment of inertial, which are major parameters of the equation of motion, from the technical documentation provided by the multicopter manufacturer. Ivler et al [17] built a multicopter flight dynamics model close to reality by performing system identification using actual flight test data.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Simulation of Heavy-Lift Tethered Multicopter Considering Mechanical Properties of Electric Power Cable

Kwon

Lee

2021

Aerospace

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In case of a fire at a high-rise building which is densely populated, an extension ladder is used to rescue people who have yet to evacuate to a safe place away from the fire, whereas those who are stranded at a height that is unreachable with the ladder should be promptly saved with different rescue methods. In this case, an application of the tethered flight system capable of receiving power over a power cable from the ground to a multicopter may guarantee effective execution of the rescue plan at the scene where fire is raging without any restrictions of the flight time. This article identified restrictions that should be considered in the design of a multicopter capable of tethered flight aimed to rescue stranded people at an inaccessible location with an extension ladder at a fire-ravaged high-rise building and assessed its feasibility. A power cable capable of providing dozens of kilowatts of electricity should be installed to enable the implementation of the rescue mission using the tethered multicopter. A flexible multi-body dynamics modeling and simulation with viscoelastic characteristics and heavy weight of power cable were carried out to evaluate the effects of such cable of the tethered flight system on the dynamic characteristics of the multicopter. The results indicate that as for a heavy-lift tethered multicopter designed to be utilized for rescue operations, the properties of the power cable, such as weight, rigidity and length, have a major impact on the position and attitude control performance.

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Mathematical Modeling of the Coaxial Quadrotor Dynamics for Its Attitude and Altitude Control

Cited by 17 publications

References 20 publications

Peningkatan Kestabilan Quadrotor menggunakan Kendali Linear Quadratic Regulator dengan Kompensasi Integrator dalam Mempertahankan Posisi

Peningkatan Kestabilan Quadrotor menggunakan Kendali Linear Quadratic Regulator dengan Kompensasi Integrator dalam Mempertahankan Posisi

Dynamic Decoupling and Intelligent Optimal PID Controller Tuning of Multivariable Qua-drones

Modeling and Simulation of Heavy-Lift Tethered Multicopter Considering Mechanical Properties of Electric Power Cable

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