Abstract
This work focuses on the design and construction of an experimental test bench of three degrees of freedom with application in educational environments. It is constituted by a gyroscopic structure that allows the movements of a quadcopter to analyze the control systems. In this context, the main features of the mechanical and electronic design of this prototype are described. At the same time, the main characteristics with respect to existing platforms are highlighted in aspects such as: system autonomy, cost, safety level, operation ranges, experimental flexibility, among others. The possible controller design approaches for quadcopter stabilization can extend to many basic and advanced techniques. In this work, to show the operation and didactic use of the platform, the development of the controller for tilt angle stabilization under two different approaches are presented. The first approach is through PID control, oriented for undergraduate students with basic level in control theory. The second approach is by means of State Feedback, oriented to students with more advanced level in this field. The result of this work is an open test bench, enabled for the experimentation of control algorithms using Matlab-Simulink.
Highlights
Knowledge LevelC/C++ programming skills MATLAB/SimulinkSignal processing Computer skills Control theoryQuadcopter dynamics Electronics
As a prototype focused on educational environments, it is of special interest to highlight the level of practicality and simplicity of the platform to carry out implementation and evaluation of designed controllers
“Control Algorithm” contains the internal proportional integral derivative (PID) control system to carry out control actions
Summary
Experimental tests under completely safe conditions are very important for the development of flight controllers. Since it is possible to find unconsidered variations in vehicle behaviour, the use of a test platform becomes an interesting solution [5]. The design of this prototype is focused on academic applications, due to its dimensions and manufacturing method it is ideal to be installed and replicated in university laboratories where it can be used to analyse quadcopter dynamics under any control law proposed. With the auxiliary use of MATLAB-Simulink software for algorithm implementation and sensor monitoring, this prototype becomes more accessible to be used by engineering students.
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