• Login
    View Item 
    •   SMARTech Home
    • Georgia Tech Theses and Dissertations
    • Georgia Tech Theses and Dissertations
    • View Item
    •   SMARTech Home
    • Georgia Tech Theses and Dissertations
    • Georgia Tech Theses and Dissertations
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Control of a folding quadrotor with a slung load using input shaping

    Thumbnail
    View/Open
    JOHNSON-THESIS-2017.pdf (3.804Mb)
    Date
    2017-04-28
    Author
    Johnson, Nicholas Andrew
    Metadata
    Show full item record
    Abstract
    Quadrotors are being used in an increasing number of applications. One such application is in carrying suspended payloads. However, as the payload swings --- due to quadrotor motion or due to a disturbance --- it also pulls on the quadrotor. The resulting force and torque from the payload can be significant and destabilize the quadrotor. Additionally, the swinging may be undesirable for fragile payloads, or the payload may collide with an obstacle. A typical approach is to allow the swinging to damp out, but this takes away from the limited battery life of the quadrotor. Instead, input shaping techniques can be implemented in the software to reduce the payload oscillations. Input shaping has been shown in similar systems (cranes, double pendula, and helicopters) to significantly reduce the amount of residual oscillation after a maneuver. Because it is a passive technique, the position of the payload does not need to be obtained in a motion capture facility or by using computationally expensive observer algorithms. This allows the quadrotor to be used in a variety of applications, including in disaster relief and cargo transport where cost is a factor. In this thesis, the dynamics of the quadrotor and payload are derived and explained in depth, including physicalparameters not usually considered. Then PID feedback is explored in controlling the system. In addition to the simulation results, hardware limitations must also be considered. Input shaping is then integrated into the system. The simulations show that input shaping greatly reduces unwanted residual oscillations. Finally, a folding quadrotor design is presented. Quadrotors must have large frames in order to carry large payloads, and a folding design saves space when transporting the quadrotor between flights. The quadrotor can then be placed in the trunk of a car or deployed from a rocket to reach an inaccessible area to provide aid.
    URI
    http://hdl.handle.net/1853/58246
    Collections
    • Georgia Tech Theses and Dissertations [23877]
    • School of Mechanical Engineering Theses and Dissertations [4086]

    Browse

    All of SMARTechCommunities & CollectionsDatesAuthorsTitlesSubjectsTypesThis CollectionDatesAuthorsTitlesSubjectsTypes

    My SMARTech

    Login

    Statistics

    View Usage StatisticsView Google Analytics Statistics
    facebook instagram twitter youtube
    • My Account
    • Contact us
    • Directory
    • Campus Map
    • Support/Give
    • Library Accessibility
      • About SMARTech
      • SMARTech Terms of Use
    Georgia Tech Library266 4th Street NW, Atlanta, GA 30332
    404.894.4500
    • Emergency Information
    • Legal and Privacy Information
    • Human Trafficking Notice
    • Accessibility
    • Accountability
    • Accreditation
    • Employment
    © 2020 Georgia Institute of Technology