Drone final year preparation 2024 8th semester Electrical Engineering

Final year project

1. Title: Robust Position Controlling for Electrodynamics of Drone Subtitle: An Advanced Approach Using MATLAB/Simulink Presented by Abhishek Bhowmik (216405023) Akash Saha (216405024) Govinda Shil (216405035) Soumyadeep Chakraborty (216405042) Tripura Institute of Technology Branch: Electrical Engineering 1 Guided by: Dr. Kaberi Majumder, Dr. Aditi Datta

2. INTRODUCTION Overview: Brief introduction to drones and their applications Importance of robust position controlling in drone dynamics 2 1

3. Goal and Scope of the Field SPECIFIC OBJECTIVES The primary goal of the field of quadcopter technology and control systems is to advance the capabilities, reliability, and versatility of quadcopters IMPROVEMENT OF CONTROL SYSTEM DEVELOPMENT OF ACCURATE PLANT MODE ENHANCEMENT OF SIMULATION TOOLS BROADENING APPLICATION 3 2

4. TUNE FLY TEST TUNE AGAIN STOP Flow Chart: 3

5. Scope The scope of this field includes both theoretical and practical aspects of quadcopter technology. This Involves: THEORITICAL REASEARCH PRACTICAL IMPLEMENTATION EDUCATIONAL OUTREACH INNOVATION AND DEVELOPMENT 5 3

6. COMPONENT DISCUSSION There are multiple components to any quadcopter that are important to understand. These components include: propellers, motors, battery, electronic speed controllers (ESC), flight controller, transmitter/receiver, and air frame. 6 4

7. NED Frame Structure The NED frame is defined such that the North and East area from a plane tangents to the earths surface at it’s present position. 7 7 5

8. The local NED frames is used to represent an objects velocity, altitude ( i.e , position) while on space. In this frame, the x-axis is pointed north Y-axis is pointed east Z axis is pointed downwards normal to the x and Y plane . 8 6

9. The Eular angles are Relative to the body frame of the quadcopter. In the NED co-ordinate system, with positive roll angles the quadcopter travels East. With positive pitching angles the quadcopter treavels south(both assuming a zero yaw angle). With positive YAW angles the quad-copter rotate clockwise and vice-versa. 9 7

10. Environmental Parameters Symbol Description Unit Air resistance along each axis Kg/s Symbol Description Unit Air resistance along each axis Kg/s Measuring the air resistance in each axis is extremely complex. We assumed the air constant to a fixed value of 0.1 kg/s 10 8

11. Air Resistance: 11 9

12. Building the Plant Model 12 10

13. Building the Plant Model: 6 DOF (Degree of Freedom) 11

14. Building the Plant Model: Controller 14 12

15. Building the Plant Model: Target Follow Subsystem 15 13

16. Building the Plant Model: Complete PLANT MODEL 16 14

17. Waypoint Setup Waypoint Matrix: ( x,y,z , Yaw) 17 16

18. Define Parameters 18 17

19. Results 1)Follow Mode: In Follow Mode, the drone maintains a constant distance from a moving target point, represented by black dots. 18

20. Results 2) Surrounding Mode: In Surrounding Mode, the drone flies in a circular pattern around the moving target point. 19

21. The drone project undertaken demonstrates significant advancements in the design and implementation of quadcopter control systems using MATLAB and Simulink. By developing comprehensive models and robust control algorithms, the project successfully achieved two primary operational modes: Follow Mode and Surrounding Mode. Each mode showcased the drone's capability to maintain precise control over its position and orientation relative to a moving target. Conclusion 1. Follow Mode: The drone maintained a constant distance from the moving target while continuously orienting its camera towards the target, ensuring consistent visual tracking. 2. Surrounding Mode: The drone executed smooth circular paths around the moving target, providing a 360-degree view while keeping the camera focused on the target. Key Achievements: 21 20

22. FUTURE SCOPES While the current project has achieved significant milestones, there are several areas for future development and improvement: 1. Advanced Obstacle Avoidance: 2. Enhanced Autonomy: 3. Improved Trajectory Planning: 4. Battery Management: 5. Environmental Adaptation: 22 21

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