The 8th 2011 8th International International Conference Conference on on Ubiquitous Ubiquitous Robots Robots and and Ambient

Ambient Intelligence Intelligence (URAI (URAI) 2011)

Nov. 23-26, 2011 in Songdo ConventiA, Incheon, Korea

TA 3-1

Design and Im mplementation of Coaxial Quad drotor for an n Autonomous Outdoor Flight
Gilar Budi Raharja, Kim Gyou Beom and Yoon Kwangjoon
Department of Aerosp pace and IT Fusion, Konkuk University, Seoul, 143-70 01, Korea (Tel : +82-2-447-7091; E-mail: kjyoon@konkuk.ac.kr, agie@konkuk.a ac.kr)

ut a design and Abstract This paper discuss abou implementation of coaxial quadrotor r for autonomous outdoor flight. On every axis of the quad drotor installed two motors and propellers coaxially, thus it t has eight in total. This configuration designed to fulfill th he requirement for carrying some payload system for grou unds still and clip capturing during the flight. The mod deling and control design approach developed based on o the quadrotor helicopter. An onboard control system powered by a classical control, then a modern control will be ositioning system implemented in advance. Global po module used as navigation expected to be b optimized in the future by a simultaneous localization and a mapping. The experimental setup and flight test has been done successfully. Keywords autonomous flight, coaxial quadrotor

2. Hardware Configu uration of Vehicle

Figure 1 shows the hardware e configuration of the flight control system. For validation purposes, we implemented e coaxial quadrotor in order a classical PID controller on the to acquire flight data for to the simulation. An ARM PU 1) is used as the main Cortex-M3 microcontroller (CP controller. We use a 100Hz AR RHS for attitude control and i2c speed controllers to guaran ntee the efficient driving of eight brushless direct current (BLDC) motors. For the outdoor trajectory following, a 5Hz GPS used as navigation sensor.
CPU 2 Image Processor C Camera Video Transmitter

RF Modem

A AHRS

GPS

1. Introduction
Nowadays, unmanned aerial veh hicle is already well-known as one of the solution for fo handling some missions and operations in a difficult situation such as disasters and military zones. A lot of research project c in how to about unmanned system development concern make a UAV with some specified cri iteria. By the size UAV should be a small vehicle to ensure e that it has enough agility during the flight, this is also can n be determined by the design of the vehicle. The other imp portant criterion is the ability to hover; to perform a vertical l motion during the takeoff and landing. or type with fixed Regarding the small size, multi-roto propeller is the easiest choice among he elicopters. Coaxial quadrotor has eight rotors configured in n quadrotor design and symmetrical geometry; it has doub ble rotors installed on each rotor axis. This configuration expected e to makes the vehicle generates more thrust and th he counter rotating propeller expected to gives more stab bility, because the coaxial configuration cancelling the to orque one another. Some enough thrust is needed to carry y more than 1 kg payload consist camera system and navi igation devices. The final mission is to handle an n observation and capturing image with camera transmit tted and recorded. The challenge in the real application is how to perform a e for any land type full autonomous system that applicable and any circumstance, whether in urban or even jungle. So menting trajectory the proposed technique is implem following in the beginning and simulta aneous localization and mapping in the advance.
CPU 1 Flight Controller 8 ESCs 8 BLDCs

RF Modem

Ground d Control Com mputer

Video Receiver

e Configuration Fig. 1. Hardware d modem for two ways We use a 900Hz wireless data communication between the ground control and the e of image processing, we vehicle. For the future purpose use an ARM9 processor (CPU 2) that expected to proces e SLAM, the video also the image data and generate transmitted to the ground to be captured and stored int hte PC. In the left side of Figure 2 shows the real view of r side shows it was coaxial quadrotor and the right performing an outdoor autonom mous hover flight.

Fig. 2. Coaxial Quadrotor Re eal Look and Performing Outdoor Autonomous Hover Flight

978-1-4577-0723-0 / 11 / $26.00 2011 IEEE

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3. Dynamic Modeling
3.1 Basic Concept The coaxial quadrotor concept is basically the same with the very well-known concept of quadrotor helicopter, but with eight rotors in a cross configuration. All the propellers are connected to the motor directly without any gear set and any its axes of rotation are individually fixed. Figure 3 shows the basic concept and dynamics work on coaxial quadrotor. The main motion factor is the speed of the eight rotors (1, 2, 3, 4, 5, 6, 7 and 8 in rad/s). Thus, changing the speed can vary the motions.
YE 5 XE 7 8 1 mg r, 2 p, X

the coaxial quadrotor has symmetric dimension property and also all the axes of the body-frame is coincide with the inertial coordinate system to describe the 6-DOF equation using Newton-Euler concept.

(6) (7) (8)

Equation (6), (7) and (8) show all the translational dynamics involved in the coaxial quadrotor. Where g (m/s2) is the gravity force and m (kg) is the overall coaxial quadrotor mass.
.

(9) (10) (11)

6 3 YB q, 4

Fig. 3. Dynamics and Concept of Coaxial Quadrotor. Regards to the Figure 3, 1 and 2 are the speeds of front side propeller, 3 and 4 are the speed of right side propeller, 5 and 6 are the speeds of rear side propeller and, 7 and 8 are the speeds of left side propeller. The overall speeds (, rad/s) generation is represented by the equation (1) [1], [2], [3], [4]: (1) We assumed that each thrust value is equal; the yawing motion can also be assumed to be stable even though the dynamics of the quadrotor produce an unstable system. The vector of movement represented in the equation (2) to (5).

Equation (9) to (11) shows all the rotational dynamics involved in the coaxial quadrotor. Where Ixx, Iyy, Izz are moments of inertia of each axes that obtained by estimation; JTP (N m s2) is the total rotational moment of inertia.

4. Results
We built the model using MATLAB/Simulink software for simulation and verification the model as a basic reference and procedure to design an optimal control [5]. In this part we present the results of simulation. This result gives more information about the behaviors of the coaxial quadrotor regarding the control input given.

(2) (3) (4)

(5)

Where, U1 is throttle, U2 is roll, U3 is pitch, U4 is yaw, l (m) is the distance between the center of the coaxial quadrotor and the center of a propeller; b (N s2) is the coefficient of thrust and d (N m s2) is the coefficient of drag that contributes to the aerodynamics around the propeller. 3.2 Equations of Motion We assumed the quadrotor is a rigid-body, the center of mass is coincident with the origin of the body-fixed frame,

Fig. 4. Input Commands Every simulation was done for the seconds. Figure 4 shows the input command as reference in the control allocation for four channels of control part. Figure 5 shows the response of altitude and vertical velocity.

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trajectory following result. The reference moves anti-clockwise from and until (5, 5) coordinate point and making a 30x30m square path, the simulation done in 180 seconds. LQR controller result looks more efficient compare to the PID controller in the simulation.

Fig. 5. Altitude and Vertical Velocity Response

Fig. 8. Trajectory Following Responses

5. Conclusion
We built the coaxial quadrotor that able to perform a semi-autonomous hovering flight mode. The configuration brings advantage for carrying more load capability, this promising to accomplish the goal to make a reliable outdoor autonomous rotor UAV. The validated model shows some good results of stability and trajectory following performance in simulation. Proven implementation of optimal control on board and real flight test of trajectory following will be the future results.

Fig. 6. Angular Rate Responses In figure 6., we can see the angular responses of roll and pitch are typically similar and have good response. The states converge to zero in about 2 seconds only. The yaw state is looks slower due to the angular input that made to be smooth excitation.

Acknowledgement
This work was supported by a grant from Korea Research Council of Fundamental Science & Technology funded by Ministry of Education, Science and Technology in 2011. [Project: A Study on Satellite based Position Tracking Technology for Calamity Prevention and Public Safety Improvement].

References
[1] Bresciani, T., Modeling, Identification & Control of a Quadrotor Helicopter, Master Thesis, Department of Automatic Control, Lund University, 2008. [2] G. Hoffman, D.G. Rajnarayan, Steven L. Waslander, et. Al STARMAC, Stanford Univercity, CA. [3] Samir Bouabdallah, AndreNoth and Roland Siegwart, PID vs LQ Control Techniques Applied to an Indoor Micro Quadrotor, Switzerland: Autonomous Systems Laboratory, Swiss Federal Institute of Technology, Lausanne. [4] Altug, E. et al. Control of a Quadrotor Helicopter Using Visual Feedback. International Conference on Robotics &Automation, Washington, DC May 2002. [5] Idris Eko Putro, Modeling and Control Simulation for Small Autonomous Quadrotor Flying Robot, Master thesis, Aerospace Information Engineering Dept. of Konkuk University, Korea, 2010.

Fig. 7. Euler Angle Responses Figure 7 shows that every initial state is from 7.5 degrees. In relatively a short time, roll and pitch about two seconds and yaw about four seconds, all channels states converge to zero degree as well. This results show the performance of the coaxial quadrotor model to get stable position from an unstable initial state. Figure 8 shows the

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