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Quanser Aero Experiment in Half-Quadrotor Configuration: Name - Aryan Garg Roll No. - B19EE015

This document is a lab report for an experiment using a half-quadrotor drone configuration to control yaw angle. It introduces the quadcopter model and experimental setup. The lab work involved designing a controller to meet specifications of less than 7.5% overshoot with a peak time of 1.25 seconds. Gains were calculated and tested in software. Plots show the yaw position meets the overshoot specification. Observation confirms the steady state error, peak time, overshoot, actuator limits, and gains all meet requirements. The conclusion is that the experiment was successful in achieving the specified performance metrics for yaw angle control.

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Aryan Garg
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222 views7 pages

Quanser Aero Experiment in Half-Quadrotor Configuration: Name - Aryan Garg Roll No. - B19EE015

This document is a lab report for an experiment using a half-quadrotor drone configuration to control yaw angle. It introduces the quadcopter model and experimental setup. The lab work involved designing a controller to meet specifications of less than 7.5% overshoot with a peak time of 1.25 seconds. Gains were calculated and tested in software. Plots show the yaw position meets the overshoot specification. Observation confirms the steady state error, peak time, overshoot, actuator limits, and gains all meet requirements. The conclusion is that the experiment was successful in achieving the specified performance metrics for yaw angle control.

Uploaded by

Aryan Garg
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Name - Aryan Garg

Roll No. - B19EE015

Quanser Aero Experiment in Half-Quadrotor Configuration


LAB-1

Introduction -
● The Quanser Aero Experiment experiment can be configured as a half-quadrotor
system.
● In this setup, both the front and back rotors are horizontal to the ground and only
motions about the yaw axis are enabled (i.e. the pitch axis is locked).
● By changing the direction and speed of the rotors, users can change the yaw axis
angle. Unmanned quadrotor vehicles are used for a wide-variety of applications.

Fig. 1 - Model of Quadcopter

Lab Work -
● In this experiment, we have to design a system to control the Yaw Angle. In this
we have fixed the pitch angle to be zero.

● Then we choose the maximum Peak Overshoot to be less than 7.5% and Peak
Time to reach that Peak Overshoot be 1.25sec.
● Now, we have to calculate the PV Gain (i.e kp & kd) to satisfy our Peak Time and
Overshoot expectations. We have calculated the PV Gain by comparing Transfer
Functions and State Space Equations.

● Then we enter the Gains in the PIV Block of the software and run the code.

● Several closed-loop responses were obtained like Yaw Angle, Position, Current
ect. Then these responses were verified with the desired specifications.

Calculations -
Plots -

Fig. 2 - Circuit to verify Yaw Angle

Fig. 3 - Yaw Position showing peak overshoot


Fig. 4 - Yaw Current

Fig. 5 - Yaw Speed


Fig. 6 - Pitch

Observation-
As observed from the graphs, the value of peak overshoot is 42 deg.
Steady-state error:
1. ess = 42 - 40 = 2 < 3 deg.
2. Peak time: tp = 1.5 − 1.25 = 0.25 s < 1.25s.
3. Percent Overshoot: P.O. = 5% < 7.5% .
4. Actuator saturation: |Vy| ≤ 24V and |Vp| ≤ 24V.
5. Kp = 43.19 v/rad
6. Kd = 12.8 v-s/rad

Conclusion-
It is concluded that the Peak Time and Peak Overshoot lie in the range that we
specified earlier.

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