Control Platform Design and Experiment of A Quadrotor

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Control Platform Design and Experiment of A Quadrotor
	Jiang J(姜军); Qi JT(齐俊桐); Song DL(宋大雷); Han JD(韩建达)
	2013
会议名称	2013 32nd Chinese Control Conference
会议日期	July 26-28, 2013
会议地点	Xi'an, China
关键词	Quadrotor control platform design flight experiments
页码	2974-2979
中文摘要	Quadrotor helicopter control is nowadays a hot issue in the field of unmanned aerial vehicle (UAV) research due to its unique advantages compared with traditional helicopters. However, the complex structure and low loading ability make control platform building and control algorithm verifications very hard. To solve this problem, this paper starts with brief review of the quadrotor history after which the development of quadrotors is analyzed. The advantages of the quadrotor are narrated logically due to their inner relationship. Then, the frameworks of several famous quadrotor UAV are enumerated and the design of an autonomous quadrotor helicopter SIAQR(SIA QuadRotor) is introduced. The paper further elaborated the structure of the whole system and components of the flying robot, and the detail design of the critical subsystems is also discussed. The dynamics of the flying robot in the near hovering mode is analyzed based on Newton-Euler equation. This paper further verified the performance of the control system by implementing the PID control algorithm on the quadrotor platform. The experiments showed the efficiency of the designed control system for SIAQR. Hover flying is achieved through the above mentioned control approach, and the performance is analyzed through the data recorded onboard. At the end of this paper, a conclusion is drawn and we believe that this experimental system paves way for further research.
收录类别	EI
产权排序	1
会议录	Proceedings of the 32nd Chinese Control Conference
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/13905]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Jiang J,Qi JT,Song DL,et al. Control Platform Design and Experiment of A Quadrotor[C]. 见:2013 32nd Chinese Control Conference. Xi'an, China. July 26-28, 2013.