Quad Copter

How does a Quadrotor fly?A journey from physics, mathematics, control

systems and computer sciencetowards a Controllable Flying Object

Corrado Santoro

ARSLAB - Autonomous and Robotic Systems LaboratoryDipartimento di Matematica e Informatica - Universita` di Catania, Italy

[email protected]

Keynote - L.A.P. 1 Course - Jan 10, 2014

Corrado Santoro How does a Quadrotor fly?

Overview

1 Why Multi-rotors?2 Structure and Physics of a Quadrotor3 From Analysis to Driving:

How can I impose a movement to my quadrotor?4 The ideal world and the real world:

Why we need Control Systems Theory!5 Rates and Angles:

Could I control the attitude?6 What about Altitude or GPS control?


Part I

Why Multi-rotors?


Flying Machines

To fly has been one of the dreams of the humansBut the story tells that building flying machines is not easy!A basic and common component: the wingTwo kind of flying machines (excluding rockets andballoons):

1 Fixed wing, i.e. airplanes2 Rotating wing, i.e. helicopters


Design and Implementation problemsAirplanes (fixed wing)

Wing profile and shapeWing and stab size/areaWing loadPosition of the COGMotion is achieved by driving (mechanically) the mobile surfaces(aleirons, rudder, elevator)

Helicopters (rotating wing, VTOL)Size and structure of the rotorMechanical system to control motion inclinationYaw balancing system for the rotor at tailPosition of the COGMotion is achieved by (mechanically) changing the inclination ofthe rotor and the pitch of the rotor wings


Multi-rotors ...

are mechanically simple: they have n motors and npropellersdo not require complex mechanical parts to control theflightcan fly and move only by changing motor speedare controlled only by a electronic-/computer-based system

Building them is simple!!


Part II

Structure and Physics of a Quadrotor


Structure of a Quadrotor (Mechanics)

Four equal propellers generating four thrust forcesTwo possible configurations: + and Propellers 1 and 3 rotates CW, 2 and 4 rotates CCWRequired to compensate the action/reaction effect (ThirdNewtons Law)Propellers 1 and 3 have opposite pitch w.r.t. 2 and 4, so allthrusts have the same direction


Structure of a Quadrotor (Electronics)


Forces and Rotation speeds

1, 2, 3, 4: rotation speeds of the propellersT1,T2,T3,T4: forces generated by the propellersTi 2i : on the basis of propeller shape, air density, etc.m: mass of the quadrotormg: weight of the quadrotor


Moments

M1,M2,M3,M4: moments generated by the forcesMi = L Ti


Hovering Condition (Equilibrium)

1 Equilibrium of forces: 4i=1 Ti = mg2 Equilibrium of directions: T1,2,3,4||g3 Equilibrium of moments: 4i=1 Mi = 04 Equilibrium of rotation speeds: (1 +3) (2 +4) = 0

Violating one (or more) of these conditions implies to impose acertain movement to the quadrotor


Reference Systems

There are two reference systems:1 The inertial reference systems, i.e. the Earth frame

(xE , yE , zE )2 The quadrotor reference system, i.e. the Body frame

(xB , yB , zB)


Euler Angles

Three angles (, , ) define the transformation between thetwo systems:

Roll, : angle of rotation along axis xB ||xEPitch, : angle of rotation along axis yB ||yEYaw, : angle of rotation along axis zB ||zE

They are called Euler Angles


Angular Speeds

The derivative of (, , ) w.r.t. time are the angular/rotationspeeds (, , ) of the system:

, Roll rate, Pitch rate, Yaw rate


Part III

From Analysis to Driving:How can I impose a movement to my quadrotor?


Hovering Condition (Equilibrium)

1 Equilibrium of forces: 4i=1 Ti = mg2 Equilibrium of directions: T1,2,3,4||g3 Equilibrium of moments: 4i=1 Mi = 04 Equilibrium of rotation speeds: (1 +3) (2 +4) = 0

As a consequence: = 0 = 0 = 0 = 0 = 0 = 0


Going Up and Down

1 No equilibrium of forces: 4i=1 Ti 6= mg2 Equilibrium of directions: T1,2,3,4||g3 Equilibrium of moments: 4i=1 Mi = 04 Equilibrium of rotation speeds: (1 +3) (2 +4) = 0

By increasing/decreasing the rotation speed of all thepropellers we can:

Go Up: 4i=1 Ti > mgGo Down: 4i=1 Ti < mg

Euler angles and rates remain 0


Yaw Rotation

1 Equilibrium of forces: 4i=1 Ti = mg2 Equilibrium of directions: T1,2,3,4||g3 Equilibrium of moments: 4i=1 Mi = 04 No equilibrium of prop speeds: (1 +3) (2 +4) 6= 0

As a consequence: = kY ((1 + 3) (2 + 4)) =

dt


Roll Rotation

No equilibrium of moments: 4i=1 Mi 6= 0... by unbalancing propeller speeds as:

(1 + 4) (2 + 3) 6= 0As a consequence:

= kR((1 + 4) (2 + 3)) =dt

No equilibrium of directions: T1,2,3,4 not parallel to gCorrado Santoro How does a Quadrotor fly?

Roll Rotation and Translated Flight

Total thrust T =4

i=1 Ti is decomposed in:Lift Force:TL = T cosDrag Force:TD = T sin

Avoiding diving implies TL = T cos = mg thus in translatedflight we need more power w.r.t. hovering or yawing.


Pitch Rotation

No equilibrium of moments: 4i=1 Mi 6= 0... by unbalancing propeller speeds as:

(1 + 2) (3 + 4) 6= 0As a consequence:

= kP((1 + 2) (3 + 4)) =dt

Also in this case the total thrust is decomposed thus weneed more power w.r.t. hovering or yawing.


Equations of Movement

We assume a common factor of proportionality k and F =

T(we will see that such an assumption is not a problem!): = k((1 + 4) (2 + 3)) = k1 k2 k3 + k4 = k((1 + 2) (3 + 4)) = k1 + k2 k3 k4 = k((1 + 3) (2 + 4)) = k1 k2 + k3 k4F = k((1 + 2 + 3 + 4)) = k1 + k2 + k3 + k4

or, using matrices:

F

=

k k k kk k k kk k k kk k k k

1234


Equations of Movement

F

=


1234

= K

1234

This equation gives the angular velocities of the quadrotor,given the speed of the propellers.

But if we want to control the quadrotor we must understandhow to set i in order to impose a certain rotation rate of axis inthe body frame.


Controlling Roll, Pitch and Yaw Rates, and Total Thrust

1234

= K1

F

=


F


Part IV

The ideal world and the real world:Why we need Control Systems Theory!


Can we really set the rotation rate of propellers??Motor/Propeller Driving Schema

Drivers, motors and propellers are chosen to be of the sametype for the four arms.Software (firmware) controls PWM, but ...

1 Are the drivers really all the same?2 Are the motors really all the same?3 Are the propellers really all the same?4 Is the COG placed at the center of the quadrotor?

The answer is: In general, No!!Corrado Santoro How does a Quadrotor fly?

Can we really set the rotation rate of propellers??Motor/Propeller Driving Schema

Same PWM signals applied different driver/motor/propellerchains provoke different thrust forces, even if the componentsare of the same type!


The Real world effect

ProblemWe need to set i by

1234

= K1

F

but we dont have a direct control on i and propeller thrust


The Mathematician/Physicists Solution

Solution ??Lets characterize each driver/motor/propeller chain and derive thefunctions:

Ti = fi(PWMi )Then, lets invert the functions:

PWMi = f1i (Ti)

But...Characterization is not so easyIf we change a component, we must repeat the processThere are unpredictable variables, e.g. air density, wind, etc.


The Computer Scientist/Engineer Solution

Solution ??Lets sperimentally tune:

an offset for each channela gain for each channel

until the system behaves as expected!

But...Tuning is not so easyIf we change a component, we must repeat the processThere are unpredictable variables, e.g. air density, wind, etc.


The Control System Engineer Solution

Solution!!!! Use feedback!1 Measure your variable through a sensor2 Compare the measured value with your desired set point3 Apply the correction to the system on the basis of the error4 Go to 1

Tuning is easy and, if the controller is properly designed ...it works no matter the componentsit works also in the presence of uncontrollable variables, e.g. airdensity, wind, etc.


Our ScenarioOur measures:

Actual angular velocities on the three axis ( M , M , M )They are measured through a 3-axis gyroscope!

Our set-points:Desired angular velocities on the three axis (T , T , T )They are given through the remote control


Using Feedback to Control the Quadrotor

The overall schema of the feedback controller is:



Algorithmically

while True doOn T timer tick ;(T , T , T ,F ) = sample remote control();( M , M , M ) = sample gyro();e := T M ; e := T M ; e := T M ;C :=roll rate controller(e);C:=pitch rate controller(e

);

C:=yaw rate controller(e

);

(pwm1,pwm2,pwm3,pwm4)T := K1(CT ,C T ,CT ,F )T ;

send to motors(pwm1,pwm2,pwm3,pwm4);end



Algorithmically

while True doOn T timer tick ;(T , T , T ,F ) = sample remote control();( M , M , M ) = sample gyro();e:= T M ; e := T M ; e := T M ;

C:=roll rate controller(e

);

C :=pitch rate controller(e);C :=yaw rate controller(e);(pwm1,pwm2,pwm3,pwm4)T := K1(CT ,C T ,CT ,F )

T ;send to motors(pwm1,pwm2,pwm3,pwm4);

end

The key is in the controllers!!


The P.I.D. Controller

The most common used controller type is theProportional-Integral-Derivative controller, represented bythe following function:

PID FunctionC := xxx rate controller(e);That is:

C(t) := Kpe(t) + Ki t

0e() d + Kd

de(t)dt

In a discrete world (at k th sampling instant):

C(k) := Kpe(k) + Kik

j=0e(j) T + Kd e(k) e(k 1)

T


The P.I.D. Controller

PID Function

C(k) := Kpe(k) + Kik

j=0e(j) T + Kd e(k) e(k 1)

T

Constants Kp,Ki ,Kd regulate the behaviour of the controller:Kp drives the short-term actionKi drives the long-term actionKd drives the action on the basis of the error trend

Constants Kp,Ki ,Kd are tuned:Using a specific tuning method (Ziegler-Nichols)Sperimentally by means of trial-and-error


Part V

Rates and Angles:Could I control the attitude?


Rates are not Angles

The above schema controls rates:suppose a roll angle of = 10obut no roll rotation (rate), i.e. = 0and no roll rotation command (sticks set to center) the quadrotor is not horizontal and performs atranslated flight

Could we control angles instead of rates?Corrado Santoro How does a Quadrotor fly?

Measuring Angles (instead of Rates): Gyros

First we must measure euler angles (, , )!We could do this by using Gyroscopes, Accelerometers,Magnetometers, but...

Gyroscopes measure angular velocities which can beintegrated in order to derive the angle (t) =

t0 ()d , but:

Numeric integration is affected by approximation errorsGyroscopes are affected by an offset, i.e. they givenon-zero value when the measure should be zeroSuch an offset is not constant over time and depends onthe temperature

The estimated angle is not reliable!


Measuring Angles: Accelerometers

An accelerometer is a sensor measuring the acceleration overthe three axis (ax ,ay ,az).

If the sensor is static sensed values are the projectionsof g vector in the sensor reference systemTwo functions (using arctan) determines pitch and roll: = tan1 ay

az = tan1 ax

a2y+a2z

But if the object is moving (e.g. shaking) otheraccelerations appear

The computed angles are not reliable!Corrado Santoro How does a Quadrotor fly?

Measuring Angles: Two sensors, No reliability!

GyrosDriftApproximate discrete integration

AccelerometersPrecise only if sensor is not shaking

We have two different source of the same informationwhich are affected by two different error types.

We can use both measures by fusing them in order to adjustthe error and obtain a reliable information.


Sensor Fusion

Basic Algorithm

while True doOn T timer tick ;(, , ) = sample gyro();(ax ,ay ,az) = sample accel();(, , ) = (, , ) + T (, , ); = tan1(ay/ az); = tan1(ax/

a2y + a2z);

(, , ) = fusion filter(, , , , );end


Sensor Fusion: Algorithms

The key is the filter function!DCM (Direction Cosine Matrix)Complementary filtersKalman filters

Basic idea:Derive an error function e(t) = real(t) estimated(t)Design a controller able to guarantee limt e(t) = 0


Sensor Fusion: Algorithms

High computational load due to:Rotations in the 3D spaceMatrix calculations

May we reduce the load?


Representing Rotations in 3D

Direction Cosine Matrix

DCM =

cc ssc cs csc + sscs sss + cc css sc

s sc cc

s = sin, c = cos

This matrix is re-computed at each iteration!!

Rotating a vector v = (x , y , z) implies the product DCM v .


Representing Rotations in 3D

QuaternionsA quaternion is a complex number with one real part and threeimaginary parts:

q = q0 + q1i + q2j + q3ki, j,k = imaginary unitsi2 = j2 = k2 = ijk = 1

While Complex numbers can be used to represent rotationsin 2D, Quaternions can be used to represent rotations in 3D.


Rotations in 3D and QuaternionsTransformations from Euler angles to quaternion exist:

q (, , )(, , ) q

Rotating a vector v using a quaternion implies the productqvq where q is the conjugate of q and v = {0, vx , vy , vz}.The overall fusion algorithm can be written usingquaternion algebra, thus avoiding continuous sin, coscalculation.Quaternions avoid gimbal lock!The attitude can be easily obtained by using:

q (, , )


So far so good: Controlling attitude

Attitude control is achieved using (once again) feedbackcontrollers.We set the Target (desired) Attitude (T , T , T ) fromremote controller.Current quad attitude (M , M , M) is computed usingsensor fusion.The error signals (differences) are sent to PID controllerswhose output are the target rates for rate controllers.The basic model is cascading controllers: attitudecontrollers which drives rate controllers.


Lets remind the schema of Rate Controllers


Complete Attitude Controller


Control loops: Requirements

Two control loops in the schemarate control (inner);attitude control (outer);

Attitude control drives rate control, thus rate control musthave enough time to reach the desired target.Loops must have different dynamics, i.e. sampling timeTr = rate control sampling timeTa = attitude control sampling timeTa >> Tr , Ta = nTr , n N ,n > 1In our quad: Tr = 5ms, Ta = 50ms


Finally, the overall algorithm

while True doOn Tr timer tick ;( M , M , M ) = sample gyro();(ax ,ay ,az) = sample accel();(M , M) = fusion filter( M , M , M ,ax ,ay ,az);if after N loops then

(T , T , T ,F ) = sample remote control();T :=roll controller(M , T );T :=pitch controller(M , T );

endC:=roll rate controller( M , T );

C:=pitch rate controller( M , T );

C:=yaw rate controller(M , T );

(pwm1,pwm2,pwm3,pwm4)T := K1(CT ,C T ,CT ,F )T ;

send to motors(pwm1,pwm2,pwm3,pwm4);end


Part VI

What about Altitude or GPS control?


Lets repeat the schema!

Do you need another kind of control? Repeat the schema!Identify your source of measure mIdentify your target tIdentify the variables to drive vIdentify the sampling timeUse a (PID) controller v = pid(t ,m)


Altitude Control

HT = our target heightHM = measured height (from a sensor)F = output variable to control (desired thrust)MTr = altitude control sampling time, M > N

while True doOn Tr timer tick ;...;if after M loops then

HM = sample altitude sensor();F :=altitude controller(HM ,HT );

end...

end


GPS ControlLatT , LonT = our target positionLatM , LonT = measured position (from a GPS sensor)T , T = target variables to control (desired pitch and roll)GTr = GPS control sampling time, G > N

while True doOn Tr timer tick ;...;if after G loops then

(LatM ,LonM) = sample gps();T :=gps lon controller(LonM ,LonT );T :=gps lat controller(LatM ,LatT );

end...

end

Note: for a proper GPS navigation, a compass (with related yawcontrol) is mandatory.


Vision-based Control

while True doOn Tr timer tick ;...;if after H loops then

(X ,Y ,) = identify target with camera();T :=x controller(X );T :=y controller(Y );T :=heading controller();

end...

end Corrado Santoro How does a Quadrotor fly?

Conclusions

It seems easy ....


... but, where is the trick?Are sensors reliable?

Sometimes, NO!Noise due to mechanical vibrations (MEMS-IMU to befiltered by applying Fourier analysis)False positives due to wiring problems (Magnetometers,ADC, etc.)

Are execution platforms reliable?Check it!Controllers need precise (real-time) timingDO NOT Windows to stabilize your quad!!!You can try with RT-Linux

Is PID Tuning really easy?NO! You must learn it!... and be sure to have a large set of propellers!!

Are all those things fun?OF COURSE!!!! ^


Will Multi-rotors be the future of personaltransportation systems?

Where do I park my multi-rotor??


Demonstration FlightFirst prototype: PROBLEMS!!!

DIY is fun but ...The frame is not well balanced... but the control will do thejobToo many vibrations (many of them suppressed usingChebyshev filters)Wrong choice of motors (specs report a thurst of 400greach, but ...)

Wiring/Electronics problemsCurrent spikes reset the ultrasonic sensorI2C sometimes locks (a watchdog intervenes and turn-offmotors)

Firmware problemsStill working on the sensor fusion algorithm, since it is notsatisfactory (we want more stability...)


How does a Quadrotor fly?A journey from physics, mathematics, control

systems and computer sciencetowards a Controllable Flying Object

Corrado Santoro

ARSLAB - Autonomous and Robotic Systems LaboratoryDipartimento di Matematica e Informatica - Universita` di Catania, Italy

[email protected]

Keynote - L.A.P. 1 Course - Jan 10, 2014


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