Project First Part

Patricio Avila
Abstract
The purpose of the following document is
a study of the paper Quad-Rotor Unmanned
Aerial Vehicle Helicopter Modelling & Control, Author: Yogianandh Naidoo of the
School of Mechanical Engineering, University
of KwaZulu Natal. Goals of the study, input
and output variables, outlines and schematics,
model validation efforts and results are main
topics discussed. This document focuses on
analyze the clarity of the author to describe
those themes and gives some advices to improve it.
1. The goals of the modeling and simulation study
The modeling of a self-stabilizing and
self-navigating quad-rotor helicopter capable
of performing autonomous takeoffs and landings similar to the unmanned aerial system
(UAS) developed at Stellenbosch University
is the main objective of this paper and it is
clearly established on the introduction section.
Response time, efficiency, accurate data
transmission, capability of working in disaster
areas are the main advantages of UAVs
(Unmanned Aerial Vehicle) on rescue and
navigation applications, and they are well
described on this paper. But, some specific
information about what the author was going
to model is missing. For instance, there
is no information about the environmental
conditions or limitations of the study at the

beginning of the paper. It should be more

reasonable to put all this information together
on abstract or introduction section. But this
information is segmented in all over the report.
Also, the study is not defined on measurable variables such as: maximum speed, maximum flight height or degree of stability. So if
quad-rotor helicopter just flights and does not
crash, it might be assumed that the purpose is
fulfilled.
2. Outline of the conceptual model
Conceptual mode is well described on
words. But, this paper lacks on schematics,
especially on mechanical ones, which is
logical because this paper has an electronic
and control approach. The main structure
of the quad-rotor is not designed and there
are no flux diagrams or conceptual maps
that describe mechanical subsystems of the
quad-rotor helicopter. However, there are
many well done free body diagrams that allow
readers to understand how the forces and moments act on the system. Force diagrams are
essential on modeling mechanical systems, so
they should be as clear as possible, as they are
on this paper.
There is an outline of the electronics conceptual model (Figure 2 on the paper). It is
a basic diagram flux where the relationship
between subsystems and their elements are
well described. It shows the basic information
about electronics part and it is enough to know

the functionalities of the system.

3. Identification of input and output variables
On flight dynamics section, author comments that a quad-rotor helicopter is a six
degree of freedom system. But, at any
moment those variables are even mentioned.
Looking on the equations, readers might be
able to establish them. But, they should be
explicitly written on the paper
Also, angular velocity of the four rotors
is assumed to be the inputs of the system,
but readers cannot know that for sure until
they take a look to the whole paper. On the
other hand, altitude, yaw, roll and pitch angle
are defined as output variables and they are
clearly established on flight dynamics section.
Several equations, techniques and methods
are needed to model a quad-rotor helicopter.
Not knowing the input and output variables,
means that people who read the paper do not
know where to start and where to reach with
the demonstration, so they will easily get lost
on the process to get the transfer function or
state matrix.
At this point a table, diagram flux or bond
graph will certainly help to understand the relationship between the variables of the systems.
4. Model validation efforts
The model has been obtained using
Lagrange method and momentum and blade
theory. In order to check if the model has a
good approximation to the real system, two
simulations per each controlled variable were
done. System was tested with and without the
controller. Motor speed and other parameters
were established for each simulation.

The behavior of the system without control

can be checked from Figure 8 to 12 on the paper. And controlled system behavior is shown
from figure 13 to 17. But, at any point author
made an analysis to check if the model is correct. It is assumed that those figures show an
accurate approximation of the real system.
5. Evaluation of success in achieving a solution to the problem that motivated the
study
Since there were no measurable parameters on the goals of the study, it is difficult
to say if the objectives were fulfilled. Author
focuses the analysis of the conclusions on
establishing future studies based on this
research. Also mentions the limitations of this
model. But, at any moment, he establishes if
the model satisfies the problem that motivated
the study.
PID was the control technique used on
the simulation, but there is not a part where
desired values of system parameters like overshoot, settling time and maximum allowable
error were established. So, define success
indicators about these parameters have no
significant meaning. However, the controller
sets the output to a reference, so it can be said
that the system was correctly modeled and
controlled.
At this point, the importance of correctly
defining goals, inputs and output variables is
evident.
References
[1] Yogianandh Naidoo, Quad-Rotor Unmanned Aerial
Vehicle Helicopter Modelling & Control, School of
Mechanical Engineering, University of KwaZulu Natal,
25 Aug 2011