Название: Multicopter Design and Control Practice: A Series Experiments based on MATLAB and Pixhawk
Автор: Quan Quan, Xunhua Dai, Shuai Wang
Издательство: Springer
Год: 2020
Страниц: 414
Язык: английский
Формат: pdf (true)
Размер: 33.1 MB

Presents a model-design development method based on MATLAB + Simulink for the most widely-used drone with the most widely-used autopilot hardware.

Drones and new types of aerial vehicles are conquering the skies at an impressive pace-enabled by rapid progress in sensors, electric components and embedded computing power. Whereas 20 years ago, development, integration and testing of automated functions for aerospace application were restricted to people working for large-scale transport or military aircraft; everybody can nowadays develop, build and test novel algorithms, leveraging the power of freely available consumer Unmanned Aircraft System (UAS) and open-source projects.

This development is nothing else than a revolution—it empowers any interested person to not only engage in the fascinating fields of modeling, simulation, guidance, navigation and control of aerial vehicles but also turn own ideas into reality and actually fly and test them. So the big question is now - How to get started?!? - How to find the right balance between theoretical depth and practical pragmatism? - How to be guided through the jungle of drivers, settings and wirings of embedded hardware?

This new book builds on the powerful resources provided by the MathWorks toolchains (MATLAB, Simulink, Stateflow, ...) as the backbone for model-based system engineering and the Pixhawk with PX4 as the most distributed open-source hardware and software solution for guidance, navigation and control of low-cost aerial vehicles in a multitude of configurations.

The book provides a detailed step-by-step tutorial describing the Pixhawk system, setting up hardware, software, simulation and hardware in the loop simulation. It details the experimental process and addresses every involved component in an intuitive and tangible way. Sensor calibration, state-estimation and filter design, attitude control, position control and supervisory logic are presented in detailed experiments step-by-step that all follow the scheme of introducing the experiment, presenting preliminaries, theory, analysis and finally the design task and a summary.

Experiments presented in this book employ:

(1) The most widely-used flight platform - multicopters - as a flight platform;
(2) The most widely-used flight pilot hardware - Pixhawk - as a control platform; and
(3) One of the most widely-used programming languages in the field of control engi-neering - MATLAB + Simulink - as a programming language.

Based on the current advanced development concept Model-Based Design (MBD) process, the three aspects mentioned above are closely linked. Each experiment is implemented in MATLAB and Simulink, and the numerical simulation test is carried out on a built simulation platform. Readers can upload the controller to the Pixhawk autopilot using automatic code generation technology and form a closed loop with a given real-time simulator for Hardware-In-the-Loop (HIL) testing. After that, the actual flight with the Pixhawk autopilot can be performed.