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Quadcopter using pid controller

Quadcopter using pid controller / Chan Sing Yew
Dalam project ini, quadcopter telah dibina dengan menggunakan pengawal PID. Pelaksanaan project ini telah dibahagikan kepada dua bahagian iaitu pengawal penerbangan dan stesen bumi quadcopter. Tugas utama pengawal penerbangan adalah untuk mengawal kestabilan quadcopter berdasarkan data IMU and membolehkan quadcopter untuk membuat pergerakan sudut berdasarkan kawalan pengguna. Manakala tugas utama stesen bumi quadcopter adalah untuk mendapatkan arahan daripada pengawal PS2 tanpa wayar dan menghantarkan arahan tersebut kepada quadcopter melalui pemancar dan penerima RF. Penapis pelengkap dan penapis purata bergerak telah digunakan untuk menambahbaik ketepatan data orientasi. Project ini berkembang dengan mengikut peringkat iaitu penentukuran IMU, pelaksanaan penapis pelengkap dan penapis purata bergerak, pelaksanaan pengawal PID and akhirnya pelaksanaan perkakasan. Analisis dan perbandingan telah dibuat pada data IMU tanpa penentukuran dan data IMU dengan penentukuran dan data IMU tanpa menggunakan penapis dan data IMU dengan menggunakan penapis. Selain itu, tingkah laku quadcopter telah diperhatikan dan dianalisis semasa penalaan PID. Akhirnya, pengawal quadcopter konvension telah dibandingkan dengan pengawal quadcopter direka dari segi fungsi and jarak komunikasi. _______________________________________________________________________________________________________ In this project, the implementation of the quadcopter is developed by using the PID controller. The implementation of the project is separated into two parts that are flight controller and ground station of the quadcopter. The primary role of the flight controller is to control the stability of the quadcopter based on IMU data and allow the quadcopter to perform angular movement based on the user’s input. Whereas the primary role of the ground station is to interface with the wireless PS2 controller and transmit the commands through RF transceivers. Complementary filter and moving average filter are employed the improve the accuracy and reliability of the orientation data. This project has four stages which are calibration of IMU, the implementation of complementary filter and moving average filter, the implementation of PID controller and finally hardware implementation. Analysis and comparisons have been made on the IMU data without calibration and after calibration and the IMU data with using filters and without using filters. Besides this, the behaviors of the quadcopter when the PID parameters are tuned are observed and analyzed. Finally, the conventional quadcopter controller and the controller designed are compared in term of functions and communication distance.
Contributor(s):
Chan Sing Yew - Author
Primary Item Type:
Final Year Project
Identifiers:
Accession Number : 875005788
Language:
English
Subject Keywords:
quadcopter; PID; controller
First presented to the public:
6/1/2015
Original Publication Date:
3/7/2019
Previously Published By:
Universiti Sains Malaysia
Place Of Publication:
School of Electrical & Electronic Engineering
Citation:
Extents:
Number of Pages - 150
License Grantor / Date Granted:
  / ( View License )
Date Deposited
2019-03-07 15:53:41.303
Submitter:
Mohd Jasnizam Mohd Salleh

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