Modelling Of A Small Scale Quadrotor System

Lim, Kian Wee (2015) Modelling Of A Small Scale Quadrotor System. Project Report. UTeM, Melaka, Malaysia. (Submitted)

Text Modelling of Small Scale Quadrotor System - 24 pages.pdf - Submitted Version Download (362kB)

Abstract

Surveillance is very important to ensure safety of a country. Lack of surveillance causes terrorist intrusion that happened in Lahad Datu, Sabah on 12 February 2013. Eastern Sabah Security Command (ESSCOM) was established by Department of Prime Minister for surveillance on the Eastern Sabah Security Zone (ESSZONE). The surveillance is done by the authorities of the ESSZONE which consist of ten districts. However, the limitation of the vision of a human and the large area for surveillance may decrease the efficiency of surveillance. Therefore, the Quadrotor is proposed for surveillance purpose due to it is a rotorcraft with four horizontal rotors which designed in square configuration. Despite of that, Quadrotor is a highly non-linear system and the difficulties on requiring the state space representation of the Quadrotor system. In order to overcome the problems faced, the objectives of this research are to perform computationally and physically modelling of the Quadrotor system and performing the analysis of the performance of the modelling of Quadrotor in terms of steady state error. The methodology is to compare both the model computationally and physically the Quadrotor system. The CAD drawing of the testbed is converted into SimMechanics Toolbox using SimMechanics Link add-on for the modelling computationally while modelling physically by conducting physical realization experiments. Total of three experiments such as the physical measurement, force-lift test and speed test, and bifilar pendulum experiment of Quadrotor are conducted to obtain related parameters for the Quadrotor system. The results of the experiments and the computed parameters form two state space representation. The analysis of each state space representation is done using MATLAB and tested as an open loop system. The physical modelling has a lower steady state error compared to computational modelling. These modelling are very important in order to produce an effective and accurate performance of the controller for Quadrotor system.

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