8/17/2023 0 Comments Quadcopter geometry xIt’s taking images at 60 frames per second and using an image processing technique called optical flow to determine how objects are moving between one frame and the next. After that, the reflected sound is too soft for the sensor to pick up. At least up to about 13 feet in altitude. From the measured time, distance between the floor and the drone can be calculated. It sends out a high frequency sound pulse and measures how long it takes that pulse to bounce off the floor and return back to the sensor. The one with the grid is an ultrasound sensor that is used to measure vertical distances. On the bottom, there are two sensors that you can see. So let’s take a look at the Minidrone and see what we have to work with. Since our hardware is already built, we have to deal with what’s given to us. You would probably be expected to guide and influence the design process so that the hardware is appropriately designed to meet your control requirements. If you’re the control engineer for a quadcopter development program, that wouldn’t be the case. In this case, the hardware already exists, so I don’t have the ability to easily change the sensors or actuators in any meaningful way. Now, in order to set up the control problem, we need to spend a little time understanding our hardware. For this series, we’re going to be designing a control system for a quadcopter, the Parrot Minidrone. Even though these are all rotary wing vehicles, they have different dynamics and therefore different control strategies. This includes the familiar helicopter and the less familiar autogyro as well as any other flying machine that uses a rotating wing rather than a fixed wind to generate lift. But all of these drone style flying machines are part of an entire family of rotating wing aircraft called rotorcraft. Similarly, you can add more rotors and they take on names like hexacopter and octocopter. ![]() In this series, we’re focusing on the control strategies for a quadcopter, named so because of their four rotating propellers. I’m Brian, and welcome to a MATLAB Tech Talk. So with that in mind, let’s head over to the blackboard and set up our problem. With that being said, this series is using a drone rather than some other platform because of how accessible the hardware is and the existing infrastructure available for programming and modeling drones. In this series, we’re going to walk through the process of designing a control system that will get a drone to hover at a fixed altitude.Įven if you don’t plan on writing your own drone controller, it’s worth understanding the process because the workflow that we’re going to follow is similar to the work flow you’ll need for almost any control project. Their four propellers are spun in precise ways to control the quadcopter in 6 different degrees of freedom. A lot of even entry grade vehicles have sophisticated control systems programmed into them that allow them to be stable and fly autonomously with very little human intervention. Quadcopters and other styles of drones are extremely popular. With knowledge of the sensors, actuators, and the dynamics of the drone itself, we’ll be prepared to develop the control system over the rest of this series. ![]() This video also describes how the four propellers can be configured and spun in specific ways that allow the drone to independently roll, pitch, yaw, and thrust. Future videos will show how we can use these sensors to estimate system states like altitude and speed. This video describes the sensors that come with the Mambo, a Parrot ® minidrone that interfaces with MATLAB ® and Simulink ®. This is the first video in a series in which we walk through the process of designing a control system that will get a drone to hover at a fixed altitude. ![]() Their four propellers are spun in precise ways to control the quadcopter in six different degrees of freedom. Quadcopters and other styles of drones are extremely popular, partly because they have sophisticated programmed control systems that allow them to be stable and fly autonomously with very little human intervention.
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