General model and control of an n rotor helicopter

European Workshop on Advanced Control and Diagnosis

Sidea, A.G.^1 ; Brogaard, R Yding^1,2 ; Andersen, N.A.^1 ; Ravn, O.^1

Department of Electrical Engineering, Technical University of Denmark, Elektrovej 326, Kongens Lyngby

2800, Denmark^1

FORCE Technology, Park Allé 345, Brøndby

2605, Denmark^2

关键词: Combined model;    General model;    Individual systems;    Nonlinear mathematical model;    Quadcopter;    Rotor helicopters;    Simple system;    Single input single output controllers;   

Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/570/5/052004/pdf
DOI  :  10.1088/1742-6596/570/5/052004

来源: IOP

【 摘 要 】

The purpose of this study was to create a dynamic, nonlinear mathematical model of a multirotor that would be valid for different numbers of rotors. Furthermore, a set of Single Input Single Output (SISO) controllers were implemented for attitude control. Both model and controllers were tested experimentally on a quadcopter. Using the combined model and controllers, simple system simulation and control is possible, by replacing the physical values for the individual systems.