Abstract
The problem of control of quadcopter Finken, that was created at department of Intellectual systems at Otto von Guericke University Magdeburg, was presented. The simulation environment VRep as 3D robot simulator was reviewed. The general mathematical model of copter was presented and the model of quadcopter Finken was created in VRep simulation environment. The principles of working continue and discrete PID controllers were described and analyzed. The models of motion of quadcopter Finken were reviewed and implemented in simulation environment VRep. The model of recommended PD controller for quadcopter Finken was described and implemented. The test flights were done and the stable flying motion of quadcopter was received. The conclusions about possible use such a model was made.
Highlights
A quadcopter is a multirotor helicopter that lifted and propelled by four rotors
This paper presents a model of quadcopter Finken, which real model was created in OVGU University Magdeburg
The angles and the structure of quadcopter Finken are presented in Figure 2 including the corresponding angular velocities, torques and forces, which are created by the four rotors
Summary
A quadcopter is a multirotor helicopter that lifted and propelled by four rotors. It is operated by varying the spin RPM of its four rotors to controls lift and torque. Environment VRep is a powerful 3D robot simulator, which features several versatile calculation modules like inverse kinematics, physics/dynamics, collision detections, minimum distance calculations, path planning and many more to pen. It supports a distributed control architecture, i.e. an unlimited number of threaded or non-threaded control scripts and several extension mechanisms which include plug-ins and custom client application [2]. The angles and the structure of quadcopter Finken are presented in Figure 2 including the corresponding angular velocities, torques and forces, which are created by the four rotors (numbered from 1 to 4). In the body frame the linear velocities are determined VB by and the angular velocities by v : VB v
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