Instituto Universitario de Automática e Informática Industrial, Universitat Politècnica de València, 46022 Valencia, Spain.
Sensors (Basel). 2021 Jun 16;21(12):4134. doi: 10.3390/s21124134.
This work focuses on the design and construction of an experimental test bench of three degrees of freedom with application in educational environments. It is constituted by a gyroscopic structure that allows the movements of a quadcopter to analyze the control systems. In this context, the main features of the mechanical and electronic design of this prototype are described. At the same time, the main characteristics with respect to existing platforms are highlighted in aspects such as: system autonomy, cost, safety level, operation ranges, experimental flexibility, among others. The possible controller design approaches for quadcopter stabilization can extend to many basic and advanced techniques. In this work, to show the operation and didactic use of the platform, the development of the controller for tilt angle stabilization under two different approaches are presented. The first approach is through PID control, oriented for undergraduate students with basic level in control theory. The second approach is by means of State Feedback, oriented to students with more advanced level in this field. The result of this work is an open test bench, enabled for the experimentation of control algorithms using Matlab-Simulink.
这项工作专注于设计和构建一个具有三自由度的实验测试台，应用于教育环境中。它由一个陀螺结构组成，允许四旋翼飞行器的运动来分析控制系统。在这方面，描述了这个原型的机械和电子设计的主要特点。同时，与现有平台相比，在系统自主性、成本、安全水平、操作范围、实验灵活性等方面突出了主要特点。四旋翼飞行器稳定的可能控制器设计方法可以扩展到许多基本和高级技术。在这项工作中，为了展示平台的操作和教学用途，提出了两种不同方法下倾斜角度稳定控制器的开发。第一种方法是通过 PID 控制，面向控制理论基础水平的本科生。第二种方法是通过状态反馈，面向该领域更高级水平的学生。这项工作的结果是一个开放的测试台，可用于使用 Matlab-Simulink 进行控制算法实验。
