Weekly Reports
Week 1: 14-02-2014 - 21-02-2014
Begining the controller for the quadrotor,
1. How the quadrotor's controller and the IMU will interact.
2. Understanding the controller's conditions.
1. Comprehension of the IMU's work.
2. Choice of the controller: PID.
Proposed targets:
Problems founded :
Results :
Continue the development of controller.
Dificulties in understand how to include the controller in the problem.
Begin the development of the controller.
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Week 2: 21-02-2014 - 28-02-2014
Week 3: 28-02-2014 - 07-03-2014
Design an controller that makes the quadrotor move vertically and stabilize at a given height.
Dificulties separte the information and in dividing the problem in subproblems.
Study of the quadrotor kinematics and dynamics.
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Problems founded :
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Week 4: 07-03-2014 - 14-03-2014
1. Understand the relation between the voltage and the angular velocity of the quadrotor and between the force produced that will make the quadrotor move.
2. Improve the website.
Choosing a way to relate these variables among so many different approaches.
1. Continue the study of the quadrotor kinematics and dynamics.
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Week 4: 14-03-2014 - 21-03-2014
Make the quadrotor move vertically and stabilize.
1. Discrepancy between what the authors mean by roll pitch and yaw.
2. Problems in find the right gains.
Quadrotor moves and stabilizes as intended.
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Week 5: 21-03-2014 - 28-03-2014
Now the objective is to move the quadrotor to a chosen point (x,y,z), and so, is necessary to understand how to do that, because now the roll and pitch controllers will have variable references according with x and y.
1. Problems understanding how the roll and pitch measures influence y and x respectively.
2. The first try i made i was not considering the fixed yaw on the roll and pitch controllers.
Many study and many tries but the quadrotor don't do what was supposed to.
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Week 6: 28-03-2014 - 04-04-2014
The objective was the same: move the quadrotor to a chosen point (x,y,z).
1. At the beginning of the week it s not understood that the x and y must had an own controller that generates the roll and pitch references.
2. The quadrotor's sensibility , which was huge.
The quadrotor goes to the point that was indicated and stays there.
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Week 7: 04-04-2014 - 11-04-2014
11-04-2014 - 18-04-2014 : Easter Holidays
To make the controller there were made some assumptions like the values of linear and angular positions received were (x,y,z) and (roll, pitch, yaw) precisely. There are no sensors that give us those exactly values, the measures from the sensors must be analysed and treated. To make the quarotor real it will be used a kalman filter. So the objective this week will be study and choose the kalman filter that will be used.
Found a good relationship between complexity and functionality.
For the roll and pitch will be used two kalman filters with accelerometer and gyroscope sensors.
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Week 8: 18-04-2014 - 25-04-2014
Week 10: 25-04-2014 - 02-05-2014
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When the parameters for the controller were chosen the method was empiric : see the quadrotor behavior as according to it adjust the parameters, but there are no certain that it will work when practically tested. To ensure that, the parameters must be adjusted according to a known method that normally will produce good results : Ziegler-Nichols. For this week the objectives are implement Kalman filter and adjust the parameters according Ziegler-Nichols rule.
To implement kalman filter it was necessary to simulate the sensors what wasn't easy.
Controller for z according to Ziegler-Nichols and the first try to implement kalman filter.
Write about the work developed; Correct kalman filter; Adjust parameters.
Discover errors in kalman filter.
Section about Ziegler Nichols wrote; Some errors of kalman filter corrected.
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Week 11: 02-05-2014 - 09-05-2014
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Implement the control desgined for the quadrotor-helicopter. Write about the work done.
Realization of some tests made in the platform
Week 12: 09-05-2014 - 16-05-2014
Validation of the control made for the quadrotor-helicopter. Write about the work done.
Final tests completed
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Week 13: 16-05-2014 - 22-05-2014
Week 14: 22-05-2014 - 29-05-2014
Validation of the control made for the quadrotor-airship. Write about the work done.
Tests of the plataforms completed
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Write the chapter of the aerial hybrid plataforms.
Chapter completed
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Week 15: 29-05-2014 - 05-06-2014
Write the chapter of the aerial hybrid plataforms.
Chapter completed
Week 16: 05-06-2014 - 12-06-2014
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Week 17: 05-06-2014 - 12-06-2014
Write the chapter of sensoring
Chapter completed
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Write the chapter of conclusions and add the code in apendix
Chapter completed
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Week 18: 12-06-2014 - 19-06-2014
Week 19: 19-06-2014 - 26-06-2014
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Results :
Correct some buggs in the report
Report corrected
© Joana Viseu, 2014