:: Volume 7, Issue 1 (1-2017) ::
2017, 7(1): 77-85 Back to browse issues page
Mathematical Dynamics, Kinematics Modeling and PID Equation Controller Of QuadCopter
M. Etemadi
M.Eatemadi, Department of Electrical Engineering, Lashtenesha-Zibakenar Branch, Islamic Azad University, Lashtenesha, Iran
Abstract:   (2934 Views)
Abstract Quadcopter is the Unmanned Aerial Vehicle that can vertical tack off and landing. its useful platform for many applications in Commercial, civil or military . In this article ,we present  the Dynamics and Kinematics model of  quadcopter  and the effect of forces by introducing two frames on the ground and it’s body, also we design and implement the PID controller then found the best way of manual tuning for adjusting the PID  coefficient  in  Symmetric quadcopter , we use the 10 DOF IMU consist of  three axis gyroscope ,accelerometer and magnetometer with three PID  controller for Roll, Pitch, Yaw angle and the separate PID  controller for altitude of quadcopter Robot, also build it based on extracted result. 
Keywords: Quad copter, PID controller, Dynamics model, Unmanned Aerial Vehicle
Full-Text [PDF 2804 kb]   (5124 Downloads)    
Type of Study: Applicable | Subject: Special
Received: 2016/09/14 | Accepted: 2017/12/19 | Published: 2017/12/19


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Volume 7, Issue 1 (1-2017) Back to browse issues page