The QuadrocopterWith Remote Control over Computer Inter-

faceAnd Indoor Modeling

2013 Spring 설계과제 5 조 - 김유정김병진 , 유택근 , 정혜윤

지도교수 – 김상우 교수님

Objectives

Attitude Control

Sensor Fusion

Simple PID Controller

Position Control

Applications

Indoor modeling

Other related field application

Progress(1) Hardware & Circuit

Reduce Mechanical Noise

Damper + α-gel

Embedded System

Progress(2) Embedded Works

ATMega128

MotorDriver x 4

Accelerometer

Gyroscope

Magnetometer

ATTiny

RC Receiver

Double MPU(ATmega+ATtiny) because Lack of Pe-ripheral

Digital Sensor/Driver to avoid Analog noise

Wireless Zigbee to debug/indicator

Progress(3) Directional Cosine Matrix

Gyroscope

WeightedSum

Σ Σ𝐴𝑡𝑡𝑖𝑡𝑢𝑑𝑒=(𝑟 𝑎 ,𝑝𝑎 , 𝑦𝑎)

PI Feedbac

k

Magnetometer

Accelerometer

Orthogonality

Calibration-+

Transform Sensors Coordinate to match each other

Find Appropriate Values of , , Weighted Sum Encoder + Raw Sensor data fitting in MATLAB

(0.58), (0.001), Weighted Sum()

Progress(3) Directional Cosine Matrix

Encoder(Black)

Blue(Pitch from DCM)

Progress(4) PID Controller & Motor Control

MotorController

Motor 1

Motor 2

Motor 3

Motor 4

𝑅𝐶=(𝑟 𝑅𝐶 ,𝑝𝑅𝐶 , 𝑦𝑅𝐶)

𝐴𝑡𝑡𝑖𝑡𝑢𝑑𝑒=(𝑟 𝑎 ,𝑝𝑎 , 𝑦𝑎)

AttitudeController

Σ-+

Calibrate Sensors Coordinate

Find Appropriate Values of , , Weighted Sum

Need to further Control Algorithm

RC Receiverh𝑇 𝑟𝑢𝑠𝑡

Results

FULL Hardware & Circuit & Embedded

Robust Sensor Fusion Algorithm

Good Attitude Control, But

Youtube Links

Future Works

Hovering

Altitude Control

Position Control

Applications

Indoor modeling

Other related field application

Thank you for listeningReferences

William Premerlani and Paul Bizard, “Direction Cosine Matrix IMU: Theory ”, May 2009

Nguyen Ho Quoc Phuong and Hee-Jun Kang, “A DCM Based Orientation Estimation Algorithm with an Inertial Measurement Unit and a Magnetic Compass”, Feb 2009

Compass Calibration

http://www.vectornav.com/support/library?id=83

Ellipsoid fitting

http://www.mathworks.com/matlabcentral/fileexchange/24693-ellipsoid-fit