Publication detail
Attitude Control of Multicopter
BARÁNEK, R. ŠOLC, F.
Original Title
Attitude Control of Multicopter
Czech Title
Řízení Orientace Multikoptér
English Title
Attitude Control of Multicopter
Type
journal article
Language
en
Original Abstract
This article deals with the problem of attitude control of multicopters. At first the basic properties of multicopters are described. Regarding the attitude control, representation of attitude and computation of errors using rotation matrices are mentioned. Since the dynamics of rotation motion of multicopter around each axis is similar and almost independent to each other, the attitude control is split to three independent control loops. Then the construction of simplified model of multicopter with one degree of rotation freedom is described. Also the dynamics of thrusts of propellers are taken into account in the model. Finally one of the possible controller designs is described and for reference the results of controller with parameters tuned using MATLAB tool are shown.
Czech abstract
Tento příspěvek se zabývá řízením orientace multikoptéry. V první části článku jsou popsány základní vlastnosti multikoptér. S ohledem na řízení orientace je v další části rozebrána parametrizace orientace pomocí rotačních matic. Jelikož je dynamika rotací kolem jednotlivých os multikoptéry z principu stejná a téměř nezávislá, je řízení orientace rozděleno do tří nezávislých smyček. Dále je vytvořen jednoduchý model s jedním rotačním stupněm volnosti. Pomocí tohoto modelu je vytvořen regulátor pro řízení orientace. V závěru článku jsou uvedeny experimentální výsledky navrhnutého regulátoru.
English abstract
This article deals with the problem of attitude control of multicopters. At first the basic properties of multicopters are described. Regarding the attitude control, representation of attitude and computation of errors using rotation matrices are mentioned. Since the dynamics of rotation motion of multicopter around each axis is similar and almost independent to each other, the attitude control is split to three independent control loops. Then the construction of simplified model of multicopter with one degree of rotation freedom is described. Also the dynamics of thrusts of propellers are taken into account in the model. Finally one of the possible controller designs is described and for reference the results of controller with parameters tuned using MATLAB tool are shown.
Keywords
multicopter, PID controller, design, attitude, MATLAB
RIV year
2012
Released
12.10.2012
Pages from
1
Pages to
5
Pages count
5
BibTex
@article{BUT95590,
author="Radek {Baránek} and František {Šolc}",
title="Attitude Control of Multicopter",
annote="This article deals with the problem of attitude control of multicopters. At first the basic properties of
multicopters are described. Regarding the attitude control, representation of attitude and computation of errors
using rotation matrices are mentioned. Since the dynamics of rotation motion of multicopter around each axis is
similar and almost independent to each other, the attitude control is split to three independent control loops. Then
the construction of simplified model of multicopter with one degree of rotation freedom is described. Also the
dynamics of thrusts of propellers are taken into account in the model. Finally one of the possible controller
designs is described and for reference the results of controller with parameters tuned using MATLAB tool are
shown.",
chapter="95590",
number="5",
volume="2012",
year="2012",
month="october",
pages="1--5",
type="journal article"
}