Modelling, Identification and Control of a Quadrotor Helicopter

Abstract

This thesis work focused on the study of a quadrotor helicopter. The dynamic system modelling and the control algorithm evaluation were carried out. To test the results, a simulator and a real platform were developed. The Newton-Euler formalism was used to model the dynamic system. Particular attention was given to the group composed of the DC-motor, the gear box and the propeller which needed also the estimation of aerodynamic lift and torque to reach better accuracy. PID control algorithms were compared. The first stage tests were performed on a simulated model where it was easy to evaluate the performance with a mathematical approach. The second stage tests were carried out on the quadrotor platform to evaluate the behavior of the real system. A simulator based on Matlab-Simulink was developed. With this program it was possible to test the accuracy of the model and the robustness of the control algorithms. Furthermore a 3D graphic output and a joystick interface made easier the testability and the observability of the system. A quadrotor platform was developed. The electronics was composed of a Micro Control Unit (MCU) interfaced with several devices: the power supply, the receiving unit, the DC-motor power boards, the Inertial Measurement Unit (IMU), the SONAR and the IR modules. Thanks to these devices and the MCU software, both guided and autonomous flights were possible.