UNDERGRADUATE PROJECT I�

Presented by : MUHAMMAD HAFIZUDDIN BIN HAJA NAZYMUDEEN

Supervisor : Ir. Dr. Ing. M. NAZRI M. NASIR

ASSESSMENT OF CONTROL AND STABILITY OF JAGADRONE DURING FLIGHT TEST

2

Presentation Outline

Chapter 3– Methodology

• Research Flow Chart
• Drone Specification
• Project Schedule
• Method Used
• Flight Test
• Performance
• Method to carry out Flight Test
• Preliminary Data

​

​

​

​

INTRODUCTION

Project Background

• Drones, also known as Unmanned Aerial Vehicles (UAVs), are aircrafts that can fly without the need for a pilot.

​

• They are now used in a wide range of industries, including agriculture, economics, military, and many other

facets of life. Among them, security and surveillance have proven to be one of the most essential uses for � UAVs.

​

• They have the potential to enhance security systems by performing high-risk activities, emergency response to various circumstances, and capturing and giving real-time video and photographs from the accident scene.

Problem Statement

• Disturbance by natural phenomenon�

- Air temperature, wind speed, rain and other atmospheric phenomena have been shown

to adversely affect drone endurance, control, aerodynamics that cannot be simply ignored.

​

​

• Existing assessment method is less efficient on quantifying the flying qualities of the drone.

RESEARCH SCOPE

• Flight tests will be executed using UTM JagaDrone

​

• The multicopter uses hexacopter propulsion configuration

​

• Flight tests will be executed at low environmental average �wind speed < 3 m/s

OBJECTIVES

• To quantify the flying qualities of UTM JagaDrone using autonomous and semi-autonomous PID tuning.

​

LITERATURE REVIEW

TYPES OF DRONE

SINGLE ROTOR HELICPTER

MULTIROTOR DRONE

FIXED-WING DRONES

FIXED-WING HYBRID VTOL

JAGADRONE

• JagaDrone is a multirotor drone which is equipped with six propellers and six motors. It is classify under hexacopter drone.

​

• An advantage of multirotor aircraft is the simpler rotor mechanics required for flight control. Unlike single �and double-rotor helicopters which use complex variable pitch rotors whose pitch varies as the �blade rotates for flight stability and control, multirotor often use fixed-pitch blades; control of vehicle motion �is achieved by varying the relative speed of each rotor to change the thrust and torque produced by each.

COMPARISON OF DRONES

BASIC ELECTRONIC COMPONENTS IN DRONE

• Main Electronic Components

​

• Flight Controller
• Motor
• Battery
• Gyroscope
• Accelerometer
• Electronic Speed Controller
• Inertial Measurement Unit

Flight Controller

Item No: Pixhawk 4 Flight Controller STM32F765

Weight: 15.8g

Main FMU Processor: STM32F765 32 Bit Arm ® Cortex®-M7, 216MHz, 2MB memory, 512KB RAM

IO Processor: STM32F100 32 Bit Arm ® Cortex®-M3, 24MHz, 8KB SRAM

Dimensions: 44x84x12mm

Brushless Motor

Item No: MN3510 360KV Brushless Motor 

Weight: about 97g

KV (rpm/V): 360

Voltage: 14.8V (3-6S LiPo Battery)

�

�

Battery

Item No: LiPo Rechargeable Battery 22.2V 12000mAH

Weight: 1620 g

Fully-charge Voltage: 22.2V

Capacity: 12000mAh

Discharge rate: 15C

Max burst discharge rate: 30C

Dimension: 184mm Length x 71mm Width x 61mm Height

�

Accelerometer & Gyroscope

Item No: ICM-20689

Gyroscope:

• Digital-output X-, Y-, and Z-axis angular rate sensors (gyroscopes) with a user-programmable full scale and integrated 16-bit ADCs
• Digitally-programmable low-pass filter
• Low-power gyroscope operation
• Factory calibrated sensitivity scale factor

​

Accelerometer:

• Digital-output X-, Y-, and Z-axis accelerometer with a programmable full scale and integrated 16-bit ADCs
• User-programmable interrupts
• Wake-on-motion interrupt for low power operation of applications processor

​

Operating Temperature: -40°C ~ 85°C

Electronic Speed Controller (ESC)

Item No: Air 40A 600Hz 2-6s (No BEC) ESC

Input Voltage: 2-6S

Continuous Current: 40A

Peak Current (10S): 60A

BEC: No

Programmable item: Timing (Intermediate/High)

Weight: 26g

Dimension: 55.6mm x 25.2mm x 11.3mm

STABILITY OF A DRONE

How do Drone stabilize itself?

CONTROL SYSTEM OF A DRONE

Proportional Controller

• The simplest type of controller compared to the others, it is usually only used for first-order processes (Bajpai, 2018).

​

• A proportional gain essentially enhances the output response in response to the control system fault.

Proportional-Integral Controller

• P-I controller (Proportional-Integral Controller) has both P and I gain.

​

• The P gain works in the same way as the P controller, but the integral gain eliminates the residual error from the P gain.

​

• The integral term, on the other hand, will increase as the mistake decreases.

Proportional-Integral-Derivative Controller

• Proportional-Integral-Derivative or PID Controller is the most optimal controller.

​

• The integral term will continue to increase, as previously stated in the PI controller.

​

• Derivative gain is applied to eliminate the overshoot induced by the Integral term.

​

RESEARCH FLOWCHART

METHODOLOGY

FLOWCHART

DRONE SPECIFICATION

Drone Specification

PROJECT SCHEDULE

METHOD USED

• Software-Based

- To implement the programming made as per our task� - To collect the data needed in order to monitor the performance of the drone.

• ArduPilot software

- ArduPilot is an open source, unmanned vehicle Autopilot Software Suite, capable of � controlling autonomous: Multirotor drones. Fixed-wing and VTOL aircraft.

• MissionPlanner software

- Used to create the waypoint of the drone and to create mission� - On top of that, it is also used to get the data of the flight while doing the mission.

FLIGHT TEST

• Flight testing is a method to gather information, called data, which will describe how a particular vehicle will perform. Flight testing of a vehicle is done when very little data exists to prove that the vehicle will be safe and perform as desired. The data obtained from flight tests are then used to design future vehicles.

PERFORMANCE

• “Performance” refers to the motion of the airplane along its flight path.
• "Performance" also refer to the ability of an airplane to successfully do its job, or what it is trying to accomplish.
• “Performance” includes such items as minimum and maximum speed, maximum altitude, maximum rate of climb and maximum range.

METHOD

1. Flight test consist of 2 phases.

- R/C direct command by the pilot

- Without R/C direct command

​

2. Proper preparations and inspections are done to make sure safe flight.

​

3. Check the Aircraft component (pre-flight)

- Check the temperature of the motor and electronic speed controller

- Check the voltage of the each battery cell.

- Check the main component such as propeller, flight controller, GPS module, telemetry � strength, receiver and transmitter whether its working fine or not.

- Drone maneuver check. (Yaw, Pitch and Roll)

- Dashboard features check such as RTL, launch, resume mission, voltage, battery, current, � navigation using keyboard and mission interruption are working fine or not.

​

4. Before the flight test, the flight plan must be reviewed carefully and understand the flight plan.

​

5. Analyse the aircraft's dynamic characteristics such as the

​

6. Flight tests are carried out to measure and assess the properties of the UAV while in flight, as well as � to ensure that they are as expected.

FLIGHT TEST PROCEDURE

PRELIMINARY DATA

DATA FOR GYROSCOPE ON XYZ-AXIS

PRELIMINARY DATA

DATA FOR ACCELEROMETER ON XYZ-AXIS