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BARÁNEK, R. ŠOLC, F.
Original Title
Modelling and Control of a Hexa-copter
Type
conference paper
Language
English
Original Abstract
The paper describes mathematical model and control algorithm for hexa-copter flying machine. Hexa-copter is a member of multi-rotor flying devices which consist of multiple fixed rotors attached to a simple mechanical construction. Hexacopter itself consists of 6 six rotors with fixed pitch blades. The main property of such devices is their instability. Thus the control algorithm is non-trivial and its tuning is relatively difficult. Since incorrectly tuned control algorithm can cause device damage the use of mathematical model for testing is appropriate. The model of flying hexa-copter is derived using classical Newton laws. As the perfect model would be complicated, some approximations have been done. Using the state variables of model and linearization a control algorithm is designed. Then the results of control algorithm are presented.
Keywords
modelling; control; hexa-copter; multi-copter
Authors
BARÁNEK, R.; ŠOLC, F.
RIV year
2012
Released
28. 5. 2012
Publisher
ICCC 2012, Institute of Control and Informatization of Production Processes
Location
Faculty of BERG Technical Universtity of Košice B. Němcovej 3, 042 00 Košice
ISBN
978-1-4577-1866-3
Book
Proceedings of the 2012 13th International Carpathian Control Conference (ICCC)
Edition
1
Edition number
Pages from
19
Pages to
23
Pages count
5
BibTex
@inproceedings{BUT92329, author="Radek {Baránek} and František {Šolc}", title="Modelling and Control of a Hexa-copter", booktitle="Proceedings of the 2012 13th International Carpathian Control Conference (ICCC)", year="2012", series="1", number="1", pages="19--23", publisher="ICCC 2012, Institute of Control and Informatization of Production Processes", address="Faculty of BERG Technical Universtity of Košice B. Němcovej 3, 042 00 Košice", isbn="978-1-4577-1866-3" }