Modeling of a small scale UAV quadrotor system

Ng , Mei Chin (2014) Modeling of a small scale UAV quadrotor system. Project Report. UTeM. (Submitted)

Text MODELING OF A SMALL SCALE UAV QUADROTOR SYSTEM 24pages.pdf Download (329kB)

Abstract

Quadrotor is a flying robot that is highly nonlinear, multi variable and strongly coupled because it has 6 Degree Of Freedom of the system translational and rotational motions, which are x, y, z,, , with only four inputs from rotors. The inspection work at the gas, petroleum and specialty chemical plant side is very risky due to the height of chimneys. Currently the industries is using real helicopter to perform the inspection work, this method is high cost and require the plant side to shut down for a period of time which will cause lost to the company. To overcome this problem, quadrotor system is proposed and workers will able to collect information from more angles from high position more easily. The objective of this research is to derive and validates the mathematical modeling for autonomous quadrotor system. Based on the findings of other researcher, there are different types of derivation method for mathematical modeling and several tests need to be carried out to identify unknown parameter. The modeling is derived using Newtonian method, and several tests are conducted such as thrust factor and drag factor. The complementary filter is implemented in the on-board system of quadrotor to obtain more accurate reading from the sensors. In order to validate the modeling of quadrotor system, simulation test for the open loop system is performed using the Matlab Simulink. Then, real time implementation test is carried out as well. The data is recorded. The response of axes x, y, z, roll, pitch and yaw from an open loop system during real time implementation is recorded. Based on the analysis of the performance, the simulation generate similar pattern of signal as in real time

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