Abstract:
An Unmanned Aerial Vehicle (UAV) is a flying machine which can either be remotely
controlled or fly self-sufficiently in light of pre-modified flight designs. There are certain points
of interest of a turning wing over the settled wing airplane, particularly for short-extend or
indoor missions, where mobility, Omni-directional development, floating capacity and
hindrance evasion is basic. A Tri-rotor UAV is omnidirectional in interpretation, i.e. it can
climb, down, left, right, in reverse or forward in space autonomously, making it a more steady
and stable design.
The aim of the project is to develop stable flight controls of a hybrid Tri-copter. The hybrid tricopter is naturally unstable due to its complex T-shaped configuration. We are developing
dynamic controls which will in turn be able to provide a stable flight and thus a stable autopilot system. The center of gravity of the Tri-copter has been placed at point as to ensure
balancing of all the moments produced by the motors. The motors themselves have not been
linearized, which in turn proves the robustness of the controls system implemented.
The final control design will ensure vertical take-off and landing capabilities and to and fro
transition into hybrid mode.
The Proportional Integral Derivative (PID) controller has been executed on the Tri-copter to
improve security, reaction time, direction and following element of the framework. The
orientation of the total framework is acquired through Inertial Measurement Unit (IMU), which
gives us roll, pitch and yaw estimations of the Tri-copter. To mitigate the float predispositions
and quantization impacts of the crude inertial sensors, the first order Kalman Filtering
procedure has been utilized. The acquired value is utilized to create new PWM signals for each
of the three motors. Independent PID on each of the 3 axis (roll, pitch and yaw) has been
utilized. The subsequent signals acquired is then added to the base thrust value. Thrust and
reference to the Tri-copter are given through a 9-channel Turnigy remote control.
