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Modelling and parameters identification of a quadrotor using a custom test rig

Quadrotor by nature is a very unstable system and flying it without any feedback control algorithm is deemed impossible. However, before designing the control system, system identification need to be conducted as the accuracy of the control system depends highly on the accuracy of the model. Therefo...

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Main Authors:	Mohammad Ashraf, Mohammad Shafiq, Zainal Abidin, Mohamad Shukri, Mahmud, Mohd. Saiful Azimi, Abd. Rahman, Muhammad Khairie Idham, Saleh Motea, Zakarya Mohammed Nasser
Format:	Article
Published:	Institute of Advanced Engineering and Science 2018
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/84262/ http://ijpeds.iaescore.com/index.php/IJPEDS/article/view/11822
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id	my.utm.84262
record_format	eprints
spelling	my.utm.842622019-12-16T03:16:00Z http://eprints.utm.my/id/eprint/84262/ Modelling and parameters identification of a quadrotor using a custom test rig Mohammad Ashraf, Mohammad Shafiq Zainal Abidin, Mohamad Shukri Mahmud, Mohd. Saiful Azimi Abd. Rahman, Muhammad Khairie Idham Saleh Motea, Zakarya Mohammed Nasser TK Electrical engineering. Electronics Nuclear engineering Quadrotor by nature is a very unstable system and flying it without any feedback control algorithm is deemed impossible. However, before designing the control system, system identification need to be conducted as the accuracy of the control system depends highly on the accuracy of the model. Therefore, this paper explained the design of the quadrotor model with an “X” configuration using the Euler-Newton model. Two types of test rig were designed to measure the thrust coefficient, torque coefficient and throttle command relation parameter needed in the model. Other parameter such as moment of inertia was also being measured by separating the quad rotor model into several sections: Motors, Electronics Speed Controllers (ESC) and Central Hub. All parameters needed in the designed quad rotor model has been successfully identified by measuring the parameters using the custom-built quad rotor and test rigs. The parameters found in this paper will be used in designing the control system for the quadrotor. Institute of Advanced Engineering and Science 2018-06 Article PeerReviewed Mohammad Ashraf, Mohammad Shafiq and Zainal Abidin, Mohamad Shukri and Mahmud, Mohd. Saiful Azimi and Abd. Rahman, Muhammad Khairie Idham and Saleh Motea, Zakarya Mohammed Nasser (2018) Modelling and parameters identification of a quadrotor using a custom test rig. International Journal of Power Electronics and Drive Systems, 9 (2). pp. 865-872. ISSN 2088-8694 http://ijpeds.iaescore.com/index.php/IJPEDS/article/view/11822
institution	Universiti Teknologi Malaysia
building	UTM Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Teknologi Malaysia
content_source	UTM Institutional Repository
url_provider	http://eprints.utm.my/
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Mohammad Ashraf, Mohammad Shafiq Zainal Abidin, Mohamad Shukri Mahmud, Mohd. Saiful Azimi Abd. Rahman, Muhammad Khairie Idham Saleh Motea, Zakarya Mohammed Nasser Modelling and parameters identification of a quadrotor using a custom test rig
description	Quadrotor by nature is a very unstable system and flying it without any feedback control algorithm is deemed impossible. However, before designing the control system, system identification need to be conducted as the accuracy of the control system depends highly on the accuracy of the model. Therefore, this paper explained the design of the quadrotor model with an “X” configuration using the Euler-Newton model. Two types of test rig were designed to measure the thrust coefficient, torque coefficient and throttle command relation parameter needed in the model. Other parameter such as moment of inertia was also being measured by separating the quad rotor model into several sections: Motors, Electronics Speed Controllers (ESC) and Central Hub. All parameters needed in the designed quad rotor model has been successfully identified by measuring the parameters using the custom-built quad rotor and test rigs. The parameters found in this paper will be used in designing the control system for the quadrotor.
format	Article
author	Mohammad Ashraf, Mohammad Shafiq Zainal Abidin, Mohamad Shukri Mahmud, Mohd. Saiful Azimi Abd. Rahman, Muhammad Khairie Idham Saleh Motea, Zakarya Mohammed Nasser
author_facet	Mohammad Ashraf, Mohammad Shafiq Zainal Abidin, Mohamad Shukri Mahmud, Mohd. Saiful Azimi Abd. Rahman, Muhammad Khairie Idham Saleh Motea, Zakarya Mohammed Nasser
author_sort	Mohammad Ashraf, Mohammad Shafiq
title	Modelling and parameters identification of a quadrotor using a custom test rig
title_short	Modelling and parameters identification of a quadrotor using a custom test rig
title_full	Modelling and parameters identification of a quadrotor using a custom test rig
title_fullStr	Modelling and parameters identification of a quadrotor using a custom test rig
title_full_unstemmed	Modelling and parameters identification of a quadrotor using a custom test rig
title_sort	modelling and parameters identification of a quadrotor using a custom test rig
publisher	Institute of Advanced Engineering and Science
publishDate	2018
url	http://eprints.utm.my/id/eprint/84262/ http://ijpeds.iaescore.com/index.php/IJPEDS/article/view/11822
_version_	1654960063175983104
score	13.223943

Modelling and parameters identification of a quadrotor using a custom test rig

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