Modelling of quad‐rotor dynamics and Hardware‐in‐the‐Loop simulation
Abstract The quadcopter as one of the UAV (Unmanned aerial vehicles) is inherently unstable, and has six degrees of freedom (6 DOF), while the number of control inputs is four. The present work presents a sequential methodology to analyze and explain the control mechanism of quadcopter‐UAV in academ...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2022-10-01
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| Series: | The Journal of Engineering |
| Online Access: | https://doi.org/10.1049/tje2.12152 |
| _version_ | 1797894278057295872 |
|---|---|
| author | Eiad Saif İlyas Eminoğlu |
| author_facet | Eiad Saif İlyas Eminoğlu |
| author_sort | Eiad Saif |
| collection | DOAJ |
| description | Abstract The quadcopter as one of the UAV (Unmanned aerial vehicles) is inherently unstable, and has six degrees of freedom (6 DOF), while the number of control inputs is four. The present work presents a sequential methodology to analyze and explain the control mechanism of quadcopter‐UAV in academic and research institutions. This methodology includes simulation, modelling, attitude control, Hardware in‐the Loop (HIL) testing methodology, performance evaluation, and an experimental testing platform. Coordinate systems, kinematics, and dynamics systems are derived in great detail. Then, a real‐time test platform is designed to verify system stability in a safe environment. (HIL) simulation was performed by the Pixhawk flight controller board interfaced with the Mission Planner platform. The numerical results include the control parameters of the quadcopter position (phi, theta, psi), and the translation values. The simulation results showed high and reliable performance both at the desired roll, pitch, and yaw angles as well as at the quadcopter position in the coordinate axes. Furthermore, the results of the real‐time experiments (indoor/outdoor flight tests) have successfully demonstrated good stability and high response. Based on the methodology used in this research, the cost and risk of real‐time flight experiments for UAVs have been reduced. |
| first_indexed | 2024-04-10T07:06:26Z |
| format | Article |
| id | doaj.art-a7f94892fe72467ca6a41a818cdfb9a9 |
| institution | Directory Open Access Journal |
| issn | 2051-3305 |
| language | English |
| last_indexed | 2024-04-10T07:06:26Z |
| publishDate | 2022-10-01 |
| publisher | Wiley |
| record_format | Article |
| series | The Journal of Engineering |
| spelling | doaj.art-a7f94892fe72467ca6a41a818cdfb9a92023-02-27T07:21:04ZengWileyThe Journal of Engineering2051-33052022-10-0120221093795010.1049/tje2.12152Modelling of quad‐rotor dynamics and Hardware‐in‐the‐Loop simulationEiad Saif0İlyas Eminoğlu1Department of Computer and Electronic Engineering Sana'a Community College Sana'a YemenDepartment of Electrical and Electronic Engineering Ondokuz Mayis University Samsun TurkeyAbstract The quadcopter as one of the UAV (Unmanned aerial vehicles) is inherently unstable, and has six degrees of freedom (6 DOF), while the number of control inputs is four. The present work presents a sequential methodology to analyze and explain the control mechanism of quadcopter‐UAV in academic and research institutions. This methodology includes simulation, modelling, attitude control, Hardware in‐the Loop (HIL) testing methodology, performance evaluation, and an experimental testing platform. Coordinate systems, kinematics, and dynamics systems are derived in great detail. Then, a real‐time test platform is designed to verify system stability in a safe environment. (HIL) simulation was performed by the Pixhawk flight controller board interfaced with the Mission Planner platform. The numerical results include the control parameters of the quadcopter position (phi, theta, psi), and the translation values. The simulation results showed high and reliable performance both at the desired roll, pitch, and yaw angles as well as at the quadcopter position in the coordinate axes. Furthermore, the results of the real‐time experiments (indoor/outdoor flight tests) have successfully demonstrated good stability and high response. Based on the methodology used in this research, the cost and risk of real‐time flight experiments for UAVs have been reduced.https://doi.org/10.1049/tje2.12152 |
| spellingShingle | Eiad Saif İlyas Eminoğlu Modelling of quad‐rotor dynamics and Hardware‐in‐the‐Loop simulation The Journal of Engineering |
| title | Modelling of quad‐rotor dynamics and Hardware‐in‐the‐Loop simulation |
| title_full | Modelling of quad‐rotor dynamics and Hardware‐in‐the‐Loop simulation |
| title_fullStr | Modelling of quad‐rotor dynamics and Hardware‐in‐the‐Loop simulation |
| title_full_unstemmed | Modelling of quad‐rotor dynamics and Hardware‐in‐the‐Loop simulation |
| title_short | Modelling of quad‐rotor dynamics and Hardware‐in‐the‐Loop simulation |
| title_sort | modelling of quad rotor dynamics and hardware in the loop simulation |
| url | https://doi.org/10.1049/tje2.12152 |
| work_keys_str_mv | AT eiadsaif modellingofquadrotordynamicsandhardwareintheloopsimulation AT ilyaseminoglu modellingofquadrotordynamicsandhardwareintheloopsimulation |