TY - GEN
T1 - Design of auto following quadcopter control system based on dynamic waypoint
AU - Saputra, Ari Kurniawan
AU - Pramujati, Bambang
AU - Kurniawan, Dili
N1 - Publisher Copyright:
© 2018 Author(s).
PY - 2018/7/13
Y1 - 2018/7/13
N2 - Research about quadcopter has been done for many purposes. This research designed auto following control system (tracking object) quadcopter using GPS (Global Positioning System) as an equipment to hand over current data location from determined object. Design was started with drawing 3D model of quadcopter using CAD software to obtain quadcopter's physical data such as mass and inertia. Then the dynamic open loop simulations executed using a software which mathematical models were made linearly with single input-single output (SISO) approach. Next, after receiving a transient response in the open loop system, simulation process was continued by giving PID controller to each of them pitch, roll, yaw, altitude, longitudinal, and lateral motion. The best result of simulation was when PD compensator applied. Simulation process in the main motion (roll, pitch, yaw and vertical) generated desired transient response with settling time < 2 seconds and overshoot < 30%. Simulation result on longitudinal and lateral motion produced transient response with settling time < 2 seconds and overshoot < 50%. The result of quadcopter testing shown actual motion response in each system could follow signal (set-point) reference.
AB - Research about quadcopter has been done for many purposes. This research designed auto following control system (tracking object) quadcopter using GPS (Global Positioning System) as an equipment to hand over current data location from determined object. Design was started with drawing 3D model of quadcopter using CAD software to obtain quadcopter's physical data such as mass and inertia. Then the dynamic open loop simulations executed using a software which mathematical models were made linearly with single input-single output (SISO) approach. Next, after receiving a transient response in the open loop system, simulation process was continued by giving PID controller to each of them pitch, roll, yaw, altitude, longitudinal, and lateral motion. The best result of simulation was when PD compensator applied. Simulation process in the main motion (roll, pitch, yaw and vertical) generated desired transient response with settling time < 2 seconds and overshoot < 30%. Simulation result on longitudinal and lateral motion produced transient response with settling time < 2 seconds and overshoot < 50%. The result of quadcopter testing shown actual motion response in each system could follow signal (set-point) reference.
UR - http://www.scopus.com/inward/record.url?scp=85050501975&partnerID=8YFLogxK
U2 - 10.1063/1.5046301
DO - 10.1063/1.5046301
M3 - Conference contribution
AN - SCOPUS:85050501975
T3 - AIP Conference Proceedings
BT - Disruptive Innovation in Mechanical Engineering for Industry Competitiveness
A2 - Djanali, Vivien S.
A2 - Suwarno, null
A2 - Pramujati, Bambang
A2 - Yartys, Volodymyr A.
PB - American Institute of Physics Inc.
T2 - 3rd International Conference on Mechanical Engineering, ICOME 2017
Y2 - 5 October 2017 through 6 October 2017
ER -