Abstract
The objective of Chap. 8 is to estimate flight state accurately. In this chapter, it is assumed that the attitude of the multicopter has been estimated accurately. Feedback signals used in the controllers are the estimated values. However, for simplicity, true values are used instead of feedback according to the separation principle. The purpose of this chapter is to enable the multicopter to maintain a specific attitude. The performance of the attitude controller directly determines whether or not the multicopter can fly smoothly; further it is also the basis of position control, which will be discussed in Chap. 10. Control performance is determined by the rise time, overshoot, settling time, steady-state error in the time domain, and the cut-off frequency and stability margin in the frequency domain.
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Notes
- 1.
This principle describes separating controller design into state estimation and specific feedback control. When applying this principle, system states are firstly estimated according to observation data; the estimated values are viewed as true values, and the controller is designed based on the given system.
- 2.
Corresponding to CH1–CH5 of the RC transmitter introduced in Sect. 2.3.1.1.
- 3.
For details, see Sect. 6.1.1.2.
- 4.
“Linear Analysis Tool” in MATLAB is used here.
- 5.
The details can be found in Sect. 6.3.2.
- 6.
In this step, the signal selected is cut off by “Linear Analysis Tool” and replaced with a sweeping signal with a frequency of 0.1–10000 rad as a new input.
- 7.
In this step, the signal selected is blocked and becomes the new output. In fact, the closed-loop system becomes an open-loop system.
- 8.
For details, see Sect. 2.3.1.1 in Chap. 2.
- 9.
For details, see Chap. 11. Keep the control stick in the middle position, i.e., the desired attitude angle is 0. Tilt the quadcopter, feel whether the quadcopter has a moment to make its attitude turn zero.
- 10.
For details, see Sect. 3.5.3 in Chap. 3.
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Quan, Q., Dai, X., Wang, S. (2020). Attitude Controller Design Experiment. In: Multicopter Design and Control Practice. Springer, Singapore. https://doi.org/10.1007/978-981-15-3138-5_9
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DOI: https://doi.org/10.1007/978-981-15-3138-5_9
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