Modelling and Control of a Quadcopter Flying Machine
碩士 === 逢甲大學 === 自動控制工程學系 === 104 === This thesis mainly discusses modelling and control of a quadcopter flying machine. Euler angles and Newton-Euler formula were used to derive the equations of motion. Based on first-order perturbation technique, the stability and controllability analyses of quadco...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2016
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| Online Access: | http://ndltd.ncl.edu.tw/handle/89700724541951176525 |
| Summary: | 碩士 === 逢甲大學 === 自動控制工程學系 === 104 === This thesis mainly discusses modelling and control of a quadcopter flying machine.
Euler angles and Newton-Euler formula were used to derive the equations of motion.
Based on first-order perturbation technique, the stability and controllability analyses of
quadcopter were demonstrated. Besides, different types of motion for the quadcopter
were analyzed. According to the results of characteristics analysis and motion analysis,
we proposed an PD controller to reduce errors in tracking desired trajectories. A closedloop
Matlab/Simulink simulation program was generated to verify every flight action.
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