Project presentation 8 10-2012
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Sirindhorn International Institute of Technology Unmanned Aerial Vehicle Progression Presentation at NECTEC (10-09- 2012) Mr. Tanapol Prucksakorn Mr. Kraingkrai Wachirarattanakornkul Under Dr. Kanokvate Tangpimolrat’s and A.Itthisek Nilkhamhang’s supervison 1 Young Scientist and Technologist Program
Transcript of Project presentation 8 10-2012
Young Scientist and Technologist Program
1Sirindhorn International Institute of Technology
Unmanned Aerial Vehicle ProgressionPresentation at NECTEC (10-09-2012)Mr. Tanapol PrucksakornMr. Kraingkrai Wachirarattanakornkul
Under Dr. Kanokvate Tangpimolrat’s and A.Itthisek Nilkhamhang’s supervison
Unmanned Aerial VehicleSirindhorn International Institute of Technology
Young Scientist and Technologist Program
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Introduction
Our objective is to make the quadrotor fly, move freely in the air and can carry a camera to observe the landslide.
Unmanned Aerial VehicleSirindhorn International Institute of Technology
Young Scientist and Technologist Program
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Controlling QuadrotorNow, we can control the quadrotor wirelessly by using XBee. But the controller have to be made to control the quadrotor. So we have to make a quadrotor simulation from the dynamics model by using Simulink to determine a proper setting of PID controller.
Unmanned Aerial VehicleSirindhorn International Institute of Technology
Young Scientist and Technologist Program
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State Variables
Unmanned Aerial VehicleSirindhorn International Institute of Technology
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Dynamics Model
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SimulationIf dynamics model of the quadrotor is known then the simulation can be made. So, we simulate each parameter of the quadrotor which are roll, pitch,yaw,and altitude.
Unmanned Aerial VehicleSirindhorn International Institute of Technology
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SimulationKp=150, Ki=2, Kd=17
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SimulationKp=150, Ki=2, Kd=20
Unmanned Aerial VehicleSirindhorn International Institute of Technology
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SimulationKp=200, Ki=2, Kd=40
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SimulationKp=2000, Ki=5, Kd=40
Unmanned Aerial VehicleSirindhorn International Institute of Technology
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Plan
ActivityMonth
Jun Jul Aug Sep Oct Nov Dec Jan Feb Mar
Study Quadrotor
Design and Order parts Control motor / Calibration Study Sensor
Study Controller Implement controller Test Summary and Report
Unmanned Aerial VehicleSirindhorn International Institute of Technology
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ConclusionPID controller alone is not enough, so we have to study another controller. The interested one is the “Fuzzy Control System” that can be used with PID controller to tune the kp,ki,kd automatically.
Unmanned Aerial VehicleSirindhorn International Institute of Technology
Young Scientist and Technologist Program
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Any Question?
Thank you for your attention
