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    Forces Quadcopter

    Uploaded by

    Chetan Pawar
    The document discusses the forces and sensors used on a quadcopter. It describes how gyroscopes and accelerometers can be used to measure pitch and roll but have limitations. It also discusses how adding horizontal lift during turns affects accelerometer readings. Finally, it mentions that combining gyroscope and accelerometer data through a Kalman filter can help overcome their individual limitations and noise issues.

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    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd

    Forces Quadcopter

    Uploaded by

    Chetan Pawar
    606 views12 pages
    The document discusses the forces and sensors used on a quadcopter. It describes how gyroscopes and accelerometers can be used to measure pitch and roll but have limitations. It also discusses how adding horizontal lift during turns affects accelerometer readings. Finally, it mentions that combining gyroscope and accelerometer data through a Kalman filter can help overcome their individual limitations and noise issues.

    Original Description:

    the simple project on forces acting on quadcopter.

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    The document discusses the forces and sensors used on a quadcopter. It describes how gyroscopes and accelerometers can be used to measure pitch and roll but have limitations. It also discusses how adding horizontal lift during turns affects accelerometer readings. Finally, it mentions that combining gyroscope and accelerometer data through a Kalman filter can help overcome their individual limitations and noise issues.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    606 views12 pages

    Forces Quadcopter

    Uploaded by

    Chetan Pawar
    The document discusses the forces and sensors used on a quadcopter. It describes how gyroscopes and accelerometers can be used to measure pitch and roll but have limitations. It also discusses how adding horizontal lift during turns affects accelerometer readings. Finally, it mentions that combining gyroscope and accelerometer data through a Kalman filter can help overcome their individual limitations and noise issues.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 12

    Forces & sensors on a quadcopter

    Forces & sensors on a quadcopter


    Definitions Pitch and roll Yaw

    Definitions
    Roll, pitch and yaw Lift, drag, trust and weight

    Pitch and roll


    Lift is always perpendicular to the flow direction, in our case the rotor plane.
    The gravity is always perpendicular to the ground.

    Pitch and roll


    Lift and gravity with pitch and roll.
    More lift required Horizontal lift component provides thrust When thrust overcomes drag the quadcopter moves.

    Pitch and roll


    Gyro can sense the rotation around the pitch or roll axis.
    Unit is rotation in degrees per second. Integrating this yields pitch or roll angle.

    Accelerometer can measure gravitational components.


    Pitch and roll angle can be calculated with three axes, two per angle (x,z) and (y,z).

    But.

    Pitch and roll


    Why will this not work well in practice? Gyros (especially MEMS and Piezo):
    Have a noisy signal Have an offset (temperature, other effects) This results in accumulating error in the integration. Gyros can be used for short corrections

    Accelerometers:
    The forces described previously are only in uniform linear motion. In turns there are more forces due to horizontal lift component.

    Pitch and roll


    When a plane/quadcopter turns it has to roll. This results in a horizontal and vertical lift component. The horizontal lift component gives a centripetal force. The weight and centrifugal force result in cancel out the lift (plane does not climb) This is more commonly known as g-force or load factor. This can be estimated by:
    g 1 cos( )

    For example 30 degree turn is 1.15g The accelerometer will measure this in the Z-axis, the other axes are 0.

    Pitch and roll


    A quadcopter not only has this for roll but also for pitch in sideways movements. How to solve this:
    Combine both the gyro and accelerometer information using a Kalman filter. This also makes measurements insensitive to noise (for example due to vibration).

    Yaw
    Turning around the top-axis. Usually compensated with gyros (short term compensation). Again: drift. For absolute yaw control: use a magnetometer
    Basically an electronic compass.

    Altitude
    Can be determined with distance sensors (e.g. ultrasone or infrared) Can be determined with barometric sensors

    Some motivation
    Best performing group can go gliding at Terlet near Arnhem.

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