Modelling and control of a coaxial helicopter UAV in an indoor laboratory

机译：室内实验室中同轴直升机无人机的建模与控制

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This paper describes the modelling, the control algorithm and the flight experiments performed with an Unmanned Aerial Vehicle (UAV). The vehicle is a coaxial toy helicopter and the control platform is an indoor platform with a computer vision sensor. The dynamic model of the vehicle as well as the identification process of its parameters are described. The controller consists on a cascade control structure formed by trajectory, velocity and attitude control loops implemented with PID-based controllers. The experimental results show a maximum position error of 5cm on hovering experiments and exhibit a great precision in the trajectory tracking experiments.

机译：本文介绍了无人飞行器（UAV）的建模，控制算法和飞行实验。车辆是同轴玩具直升机，控制平台是带有计算机视觉传感器的室内平台。描述了车辆的动力学模型及其参数的识别过程。该控制器由级联控制结构组成，该级联控制结构由基于PID的控制器实现的轨迹，速度和姿态控制环组成。实验结果表明，悬停实验的最大位置误差为5cm，在轨迹跟踪实验中具有很高的精度。

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来源
《2016 3rd Conference on Control and Fault-Tolerant Systems》|2016年|117-124|共8页
会议地点 Barcelona(ES)
作者
Bartomeu Rubí; Ramon Pérez; Bernardo Morcego;
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作者单位

Automatic Control Department, Universitat Politècnica de Catalunya (UPC), TR11, Rambla de Sant Nebridi, 10, 08222 Terrassa, Spain;

Automatic Control Department, Universitat Politècnica de Catalunya (UPC), TR11, Rambla de Sant Nebridi, 10, 08222 Terrassa, Spain;

Automatic Control Department, Universitat Politècnica de Catalunya (UPC), TR11, Rambla de Sant Nebridi, 10, 08222 Terrassa, Spain;

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会议组织
原文格式 PDF
正文语种 eng
中图分类
关键词
Helicopters; Rotors; Mathematical model; Bars; Vehicles; Torque; Control systems;

机译：直升机;旋翼;数学模型;杆;车辆;扭矩;控制系统;

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专利

1. Fuzzy Logic Controller for a Mini Coaxial Indoor Helicopter [J] . George Limnaios, Nikos Tsourveloudis Journal of Intelligent and Robotic Systems . 2012,第1a4期

机译：小型同轴室内直升机的模糊逻辑控制器
2. Fuzzy Logic Controller for a Mini Coaxial Indoor Helicopter [J] . George Limnaios, Nikos Tsourveloudis Journal of Intelligent & Robotic Systems: Theory & Application . 2012,第1a4期

机译：小型同轴室内直升机的模糊逻辑控制器
3. Flight Dynamics Modeling, Trim, Stability, and Controllability of Coaxial Compound Helicopters [J] . Cao Yihua, Wang Maosheng, Li Guozhi Journal of aerospace engineering . 2021,第6期

机译：同轴化合物直升机的飞行动力学建模，修剪，稳定性和可控性
4. Modelling and control of a coaxial helicopter UAV in an indoor laboratory [C] . Bartomeu Rubí, Ramon Pérez, Bernardo Morcego Conference on Control and Fault-Tolerant Systems . 2016

机译：室内实验室同轴直升机UAV的建模与控制
5. Modeling of an unmanned small coaxial helicopter. [D] . Duvvuri, Vamsi. 2012

机译：无人小型同轴直升机的建模。
6. Multi-Ray Modeling of Ultrasonic Sensors and Application for Micro-UAV Localization in Indoor Environments [O] . Lingyu Yang, Xiaoke Feng, Jing Zhang, 2019

机译：超声传感器的多射线建模及其在室内微无人机定位中的应用
7. Design and Control of an Indoor Coaxial Helicopter [O] . Samir Bouabdallah, Roland Siegwart, Gilles Caprari 2006

机译：室内同轴直升机的设计与控制

Modelling and control of a coaxial helicopter UAV in an indoor laboratory

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