Control Design of Hybrid Tri-Copter With Fixed-Wing Profile

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.