Modelling and Parameters Identification of a Quadrotor Using a Custom Test Rig
| Autor: | Zakarya Mohammed Nasser Saleh Motea, Mohamad Shukri Zainal Abidin, Mohammad Shafiq Mohammad Ashraf, Muhammad Khairie Idham Abd Rahman, Mohd Saiful Azimi Mahmud |
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| Rok vydání: | 2018 |
| Předmět: |
0301 basic medicine
0209 industrial biotechnology Relation (database) Computer science 030106 microbiology System identification Measure (physics) Energy Engineering and Power Technology 02 engineering and technology Moment of inertia Throttle 03 medical and health sciences Identification (information) 020901 industrial engineering & automation Control theory Control system Electronics Electrical and Electronic Engineering |
| Zdroj: | International Journal of Power Electronics and Drive Systems (IJPEDS). 9:865 |
| ISSN: | 2088-8694 |
| DOI: | 10.11591/ijpeds.v9.i2.pp865-872 |
| Popis: | Quadrotor by nature is a very unstable system and flying it without any feedback control algorithm is deemed impossible. However, before designing the control system, system identification need to be conducted as the accuracy of the control system depends highly on the accuracy of the model. Therefore, this paper explained the design of the quadrotor model with an “X” configuration using the Euler-Newton model. Two types of test rig were designed to measure the thrust coefficient, torque coefficient and throttle command relation parameter needed in the model. Other parameter such as moment of inertia was also being measured by separating the quad rotor model into several sections: Motors, Electronics Speed Controllers (ESC) and Central Hub. All parameters needed in the designed quad rotor model has been successfully identified by measuring the parameters using the custom-built quad rotor and test rigs. The parameters found in this paper will be used in designing the control system for the quadrotor. |
| Databáze: | OpenAIRE |
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