Dynamic Modelling and Simulation for Tricopter

Tran Anh Khoi NGUYEN ； Minh Nhat TO ； Dam Dung NGO ； Tung Lam NGO ； Dinh Thinh HOANG ； Thi Hong Hieu LE ； Senior Lecturer

《Journal of Aeronautics, Astronautics and Aviation》 52卷1期 Vol.52 No.1 SAWAE 2019 Special Issue (2020/03) Pp. 37-55

https://doi.org/10.6125/JoAAA.202003_52(1).04

摘要

This paper presents the course of modelling, identification, control design and numerical simulation result of a Tri-copter UAV dynamics. Tri-copter-a vehicle that operates by using 3 motors to create lift and torque-is an interesting topic for aeronautical students. With the active yaw torque, Tricoper is deemed to perform the yawing motion more smoothly and faster than other configurations. Heterogeneous experiments are introduced to yield a complete set of motor parameters, which is consequently used to study the effect of motor transfer function to stability of the entire system. Control strategy is governed primarily by a novel PID controller design. To construct a complete simulation of the Tricopter, numerous motor tests had to be conducted to determine essential coefficients and moment of inertia. Simulation results show encouraging results in both attitude and position tracking performance. The proposed framework provides a holistic view about the process of control design, and is believed to be capable of extension to other UAV designs.

關鍵字

Tricopter ； Dynamic equations ； Control strategy ； Simulation ； PID