MATEC Web Conf.
Volume 211, 2018The 14th International Conference on Vibration Engineering and Technology of Machinery (VETOMAC XIV)
|Number of page(s)||7|
|Section||NC: Nonlinear Dynamics and Control of Engineering Systems; TP1: Non-linear vibrations|
|Published online||10 October 2018|
Design and identification of tilt-motor quadrotor control system
Moscow Institute of Physics and Technology,
Unmanned aerial vehicle (UAV) with four tilt-motors is considered. The quadrotor includes four servomotors, which allow tilting the motors responsible for the thrust force. Additional control input signals enhance the UAVs maneuverability and forward flight speed in comparison with analogous classically designed UAVs. We develop a mathematical model of the tilt-motor quadrotor dynamics, which takes into account all principal forces and torques. On the basis of the mathematical model we design the control loop for a tiltmotor quadrotor. The implemented control algorithm not only allows to independently control position and attitude of the UAV, but also takes into account non-linear actuators constraints. Sensor signals, upon which the closed controlloop relies, are processed with the aid of Extended Kalman Filter. We demonstrate the performance of the model and the control-loop by simulating UAV’s passing an obstacle course. Our numerical experiments are also instrumental in identifying the key parameters of principal parts of the construction.
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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