International Research Journal of Engineering and Technology (IRJET)
e-ISSN: 2395 -0056
Volume: 04 Issue: 03 | Mar -2017
p-ISSN: 2395-0072
www.irjet.net
Hexacopter using MATLAB Simulink and MPU Sensing Simanti Bose1, Adrija Bagchi2, Naisargi Dave3 1B.
Tech student in Electronics and Telecommunication Engineering, NMIMS MPSTME, India Tech student in Electronics and Telecommunication Engineering, NMIMS MPSTME, India 3B. Tech student in Electronics and Telecommunication Engineering, NMIMS MPSTME, India 2B.
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algorithms and apply those on the derived mathematical model in computer based simulations.
Abstract - This paper deals with the control of an
Unmanned Armed Vehicle with 6 rotors, commonly known as a hexacopter. It is highly unstable and difficult to control due to its non-linear nature. A hexacopter flying machine is underactuated; it has six degrees of freedom and four control signals (one thrust and three torques). The control algorithm is developed using Newton-Euler angles and PID controllers. The mathematical model of the hexacopter is described. The results of the algorithm are obtained as presented in this paper.
The paper organization is as follows: In the following section the mathematical modeling of hexacopter is described while the PID control technique is explained in section III. In section IV, the MATLAB simulation is presented followed by the implementation procedure and results in section V. Section VI gives the conclusion.
2. MATHEMATICAL MODELING A hexacopter consists of six rotors located at equal distance from its center of mass. Adjusting the angular velocities of the rotors controls the copter. It is assumed as a symmetrical and rigid body and
Key Words: Hexacopter, Mathematical modeling, PID Control, MPU, Arduino Mega, MATLAB Simulation
1. INTRODUCTION
As we know, the hexacopter has six degrees of freedom and four control inputs. These four control inputs are: Roll (movement along the X-axis), yaw (movement along the Zaxis) and pitch (movement along the Y-axis).
A lot of research is performed on autonomous control of unmanned aerial vehicles (UAVs). UAVs come in all sizes, fixed wing or rotary, and are used to perform multiple applications. Multirotor is a true pioneer in the UAV market. It is a key influencer and forerunner of one of the most interesting and promising technology trends of the last couple of years. Reasons for choosing hexacopter are its high stability, higher overall payload and greater overall power and flight speed.
2.1 Reference system The hexacopter is assumed as a symmetrical and a rigid body and therefore the differential equations of the hexacopter dynamics can be derived from the Euler angles.
A hexacopter aircraft is a type of multirotor and has various characteristics which includes Vertical Takeoff and Landing (VTOL), stability, hovering capabilities and so on. But its advantages come at a cost: The hexacopter has nonlinear dynamics and is an underactuated system, which makes it necessary to use a feedback mechanism. An underactuated system has less number of control inputs as compared to the system’s degrees of freedom. This gives rise to nonlinear coupling between the four actuators and the six degrees of freedom, thus, making the system difficult to control. A Proportional-Derivative-Integral (PID) controller is used to control the altitude and attitude and for hovering the hexacopter in space. MATLAB simulation based experiments are also conducted to check and evaluate the dynamic performance of the hexacopter using the PID controller. [1]
Consider two reference frames, the earth inertial frame and the body fixed frame attached to the center of mass of the copter. The starting point of the earth fixed frame is fixed on the earth surface and X, Y and Z axis are directed towards the North, East and down direction respectively and in this frame the initial position coordinates of the hexacopter is defined. The body fixed frame is centered on the hexacopter’s center of mass and its orientation is given by the three Euler angles namely; roll angle (ϕ), yaw angle (Ψ) and pitch angle (θ).
The main aim of this paper is to derive an accurate and detailed mathematical model of the hexarotor unmanned aerial vehicle (UAV), develop linear and nonlinear control
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Fig -1: Body fixed frame and earth inertial frame of hexacopter [2]
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