DESIGN AND CONTROL OF QUADCOPER USING PID CONTROLLER

Abstract

Quadracopter is a flying object, which flies with a help by four propellers. The objective of this project work is to design, model and control the position and altitude of a quadcopter. To fulfill this objective, a mathematical model of the quadcopter has been developed. The simulation of the model and controller design is developed in MATLAB/Simulink environment. We operates with a simplified mathematical model representation of the quadcopter and modeling of the intended system. The designed a linearized simulation model for a Quadcopter and design a PID controller for the Quadcopter. In order to design the controller, the modeling of the brushless DC motors (BLDCM) which are responsible of the quadcopter motion is done by obtain the relationship between the control input U and the four-motor speed, first through the motor speed and control of four forces between the conversion relationship, a given motor speed corresponding to the control input Ui and obtain that thrust is proportional to the square of angular velocity of the motor. Linearization refers to finding the linear approximation and stability of an equilibrium point of a system of non linear to a function. The position models is to control the quadcopter around a hovering state, the models can be linearized around the hovering state and assumed that all the linear velocities and all the angular velocities are equal to zero. During control height our system have no maximum overshoot, 3.5se of settling time, rise time is 3se and during control position our stytem performance also with minimum of maximum over shoot (to usually 25%) approximated zero steady state error, 7.5se settling time. The designed controller is setted the value at a specified level and simulation results are discussed