Name - Aryan Garg

Roll No. - B19EE015

Quanser Aero Experiment in Half-Quadrotor Configuration

LAB-1

Introduction -
● The Quanser Aero Experiment experiment can be configured as a half-quadrotor
system.
● In this setup, both the front and back rotors are horizontal to the ground and only
motions about the yaw axis are enabled (i.e. the pitch axis is locked).
● By changing the direction and speed of the rotors, users can change the yaw axis
angle. Unmanned quadrotor vehicles are used for a wide-variety of applications.

Fig. 1 - Model of Quadcopter

Lab Work -
● In this experiment, we have to design a system to control the Yaw Angle. In this
we have fixed the pitch angle to be zero.

● Then we choose the maximum Peak Overshoot to be less than 7.5% and Peak
Time to reach that Peak Overshoot be 1.25sec.
 ● Now, we have to calculate the PV Gain (i.e kp & kd) to satisfy our Peak Time and
Overshoot expectations. We have calculated the PV Gain by comparing Transfer
Functions and State Space Equations.

● Then we enter the Gains in the PIV Block of the software and run the code.

● Several closed-loop responses were obtained like Yaw Angle, Position, Current
ect. Then these responses were verified with the desired specifications.

Calculations -
Plots -

Fig. 2 - Circuit to verify Yaw Angle

Fig. 3 - Yaw Position showing peak overshoot

Fig. 4 - Yaw Current

Fig. 5 - Yaw Speed

 Fig. 6 - Pitch

Observation-
As observed from the graphs, the value of peak overshoot is 42 deg.
Steady-state error:
1. ess = 42 - 40 = 2 < 3 deg.
2. Peak time: tp = 1.5 − 1.25 = 0.25 s < 1.25s.
3. Percent Overshoot: P.O. = 5% < 7.5% .
4. Actuator saturation: |Vy| ≤ 24V and |Vp| ≤ 24V.
5. Kp = 43.19 v/rad
6. Kd = 12.8 v-s/rad

Conclusion-
It is concluded that the Peak Time and Peak Overshoot lie in the range that we
specified earlier.