EXPERIMENTAL SETUP FOR ALTITUDE CONTROL OF A QUADROTORAydemir ARISOY, Mustafa ILARSLAN, Serkan SAVRUK,M.Kursat YALCIN In this study, a novel mini flying vehicle is introduced. It is presented designing, constructing and experimental setup for altitude control of a Vertical Take-Off and Landing (VTOL) system called Quadrotor. Quadrotor is the helicopter with four rotors. The collective input (or throttle input) is the sum of the thrusts of each motor. This design approach increased the stability and controllability of the mini unmanned air vehicle (UAV). Linear control methods are applied to altitude control of this novel mini UAV and experimentally tested in laboratory environment. Experimental setup consists of DSP based controller, inertial measurement unit (IMU), brushless DC motors and electronic speed controllers for motors. Additionally, CNY-70 sensors are used to measure velocity of each motor. Quadrotor structure is constructed rigid carbon fiber. Test bed frame is composed of carbon fiber tubes attached with a plastic hub from their ends forming a plus shape. Lithium-polymer battery also is included to supply energy for Quadrotor platform. Additionally, a thrust test stand was developed to test motors and rotors individually in varying flight conditions. Thrust test stand measures the forces and torques using a load cell. The IMU 6-DoF unit was used to provide 3 dimensional sensing platforms for setup. IMU unit is used for Quadrotor setup to feedback three gyro readings, three tilt readings. The TMS320F28335 is used as Digital Signal Controller (DSC). This controller is suitable to control application setup for Quadrotor. So it is highly integrated, high-performance solutions for demanding control applications. Derived control algorithms are implemented by using the TMS320F28335. Obtained results in laboratory environment using Quadrotor altitude control setup have been motivated authors using embedded controller to free-flying. |