DEVELOPMENT OF A CONTROLLER AND INDOOR FLIGHT TEST EXPERIMENT FOR RESEARCH ON QUADROTOR GUST RESPONSE

Open Access
Author:
Liu, Yande
Graduate Program:
Aerospace Engineering
Degree:
Master of Science
Document Type:
Master Thesis
Date of Defense:
May 22, 2017
Committee Members:
  • Joseph Francis Horn, Thesis Advisor
  • Jacob Willem Langelaan, Committee Member
  • George A Lesieutre, Committee Member
Keywords:
  • quadrotor
  • control
Abstract:
The motivation of this thesis research is to develop an experimental platform for research on quadrotor gust response and wind gust estimation. The work requires the development of a quadrotor system that can be operated in an indoor facility with closed-loop control using the Vicon motion capture system. This research studies the dynamics of a commercial 3DR IRIS+ quadrotor and obtains linear models of its attitude response. In addition, outer-loop translational rate command (TRC) controllers are designed with different criteria. One controller is developed based on the identified model transfer function, using the classical root locus method, while the other controller is designed by applying modern dynamic inversion control theory. Furthermore, the controllers are implemented on the actual aircraft and then integrated with a ground station computer and the motion capture system. The controllers are tested with step and doublet commands of different magnitudes. The simulation models are verified with flight test. Finally, controller’s disturbance rejection capabilities are verified by subjecting the quadrotor to wind gust generated by a high speed fan.