دانلود کتاب Multicopter Design and Control Practice: A Series Experiments based on MATLAB and Pixhawk

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Foreword Preface Contents 1 Introduction 1.1 What Are Multicopters 1.1.1 Classification of Common Small Aerial Vehicles 1.1.2 Unmanned Aerial Vehicles and Model Aircraft 1.2 Why Multicopters 1.3 What This Book Includes 1.3.1 Experimental Platform 1.3.2 Experimental Courses 1.3.3 Features 1.4 Engineering Education Certification Standards 2 Experimental Process 2.1 Overall Introduction 2.1.1 Hardware Platform 2.1.2 Software Platform 2.1.3 Relationship Between Software and Hardware Platforms 2.2 Software Package Installation 2.2.1 Installation Steps 2.2.2 Advanced Settings 2.2.3 Installation Completion 2.2.4 Brief Introduction to Software 2.3 Hardware Platform Configuration 2.3.1 RC System Configuration 2.3.2 Pixhawk Autopilot System Configuration 2.3.3 Airframe and Propulsion System Configuration 3 Experimental Platform Usage 3.1 Brief Introduction to Experimental Platforms 3.1.1 Platform Composition 3.1.2 Platform Advantage 3.2 Simulink-Based Controller Design and Simulation Platform 3.2.1 Controller 3.2.2 Multicopter Model 3.2.3 FlightGear Interface 3.3 PSP Toolbox 3.3.1 Simulink Pixhawk Target Blocks Library of PSP Toolbox 3.3.2 Instructions for Modules in PSP Toolbox 3.3.3 Simulink Configuration for Code Generation of PSP Toolbox 3.4 Pixhawk Hardware System 3.4.1 Hardware System Composition and Connection 3.4.2 Basic Operation Method for RC Transmitter 3.4.3 Method for Uploading Firmware Through QGC 3.4.4 Pixhawk Setting for HIL Simulation Mode 3.4.5 RC Transmitter Configuration and Calibration 3.4.6 Flight Mode Settings 3.5 HIL Simulation Platform 3.5.1 CopterSim 3.5.2 3DDisplay 3.5.3 Flight Tests with HIL Simulation Platform 4 Experimental Process 4.1 Experimental Process 4.2 Experimental Procedure for LED Control Experiment 4.2.1 Experimental Objective 4.2.2 Experimental Procedure 4.2.3 Controller Code Generation and Firmware Uploading 4.2.4 Experimental Result 4.3 Experimental Procedure of Attitude Control Experiment 4.3.1 Simulink-Based Algorithm Design and SIL Simulation 4.3.2 Code Generation and Configuration 4.3.3 HIL Simulation 4.3.4 Flight Test 5 Propulsion System Design Experiment 5.1 Preliminary 5.1.1 Propulsion System 5.1.2 Propeller Radius and Airframe Radius 5.1.3 Propulsion System Modeling 5.2 Basic Experiment 5.2.1 Experimental Objective 5.2.2 Configuration Procedure 5.2.3 Remarks 5.3 Analysis Experiment 5.3.1 Experimental Objective 5.3.2 Calculation and Analysis Procedure 5.4 Design Experiment 5.4.1 Experimental Objective 5.4.2 Design Procedure 5.4.3 Remarks 5.5 Summary 6 Dynamic Modeling Experiment 6.1 Preliminary 6.1.1 Coordinate Frame 6.1.2 Attitude Representations 6.1.3 Multicopter Flight Control Rigid-Body Model 6.1.4 Control Effectiveness Model 6.1.5 Propulsor Model 6.1.6 Aerodynamic Model 6.2 Basic Experiment 6.2.1 Experimental Objective 6.2.2 Experimental Procedure 6.3 Analysis Experiment 6.3.1 Experimental Objective 6.3.2 Calculation Procedure 6.4 Design Experiment 6.4.1 Experimental Objective 6.4.2 General Description of the Multicopter Dynamic Model 6.4.3 Modeling Procedure 6.4.4 Remark 6.5 Summary 7 Sensor Calibration Experiment 7.1 Preliminary 7.1.1 Three-Axis Accelerometer 7.1.2 Three-Axis Magnetometer 7.2 Basic Experiment 7.2.1 Experimental Objective 7.2.2 Experimental Procedure 7.3 Analysis Experiment 7.3.1 Experimental Objective 7.3.2 Experimental Analysis 7.3.3 Experimental Procedure 7.4 Design Experiment 7.4.1 Experimental Objective 7.4.2 Experimental Procedure 7.5 Summary 8 State Estimation and Filter Design Experiment 8.1 Preliminary 8.1.1 Measurement Principle 8.1.2 Linear Complementary Filter 8.1.3 Kalman Filter 8.1.4 Extended Kalman Filter 8.2 Basic Experiment 8.2.1 Experimental Objective 8.2.2 Experimental Procedure 8.2.3 Remark 8.3 Analysis Experiment 8.3.1 Experimental Objective 8.3.2 Experimental Analysis 8.4 Design Experiment 8.4.1 Experimental Objective 8.4.2 Experimental Design 8.4.3 Simulation Procedure 8.5 Summary 9 Attitude Controller Design Experiment 9.1 Preliminary 9.1.1 Attitude Control 9.1.2 Implementation of Control Allocation in Autopilots 9.2 Basic Experiment 9.2.1 Experimental Objective 9.2.2 Experimental Procedure 9.3 Analysis Experiment 9.3.1 Experimental Objective 9.3.2 Experimental Procedure 9.4 Design Experiment 9.4.1 Experimental Objective 9.4.2 Experimental Design 9.4.3 Simulation Procedure 9.4.4 Flight Test Procedure 9.5 Summary 10 Set-Point Controller Design Experiment 10.1 Preliminary 10.1.1 Basic Concept 10.1.2 Traditional PID Controller 10.1.3 PID Controllers in Open-Source Autopilots 10.1.4 PID Controller with Saturation 10.2 Basic Experiment 10.2.1 Experimental Objective 10.2.2 Experimental Procedure 10.3 Analysis Experiment 10.3.1 Experimental Objective 10.3.2 Experimental Procedure 10.3.3 Remarks 10.4 Design Experiment 10.4.1 Experimental Objective 10.4.2 Experimental Design 10.4.3 Simulation Procedure 10.4.4 Flight Test Procedure 10.5 Summary 11 Semi-autonomous Control Mode Design Experiment 11.1 Preliminary 11.1.1 Semi-autonomous Control 11.1.2 Radio Control 11.1.3 Automatic Control 11.1.4 Switching Logic Between RC and AC 11.2 Basic Experiment 11.2.1 Experimental Objective 11.2.2 Experimental Procedure 11.3 Analysis Experiment 11.3.1 Experimental Objective 11.3.2 Experimental Analysis 11.3.3 Experimental Procedure 11.4 Design Experiment 11.4.1 Experimental Objective 11.4.2 Experimental Design 11.4.3 Simulation Procedure 11.4.4 Flight Test Procedure 11.5 Summary 12 Failsafe Logic Design Experiment 12.1 Preliminary 12.1.1 Safety Issues 12.1.2 Failsafe Suggestions 12.1.3 A Safe Semi-autonomous Autopilot Logic Design 12.2 Basic Experiment 12.2.1 Experimental Objective 12.2.2 Experimental Procedure 12.3 Analysis Experiment 12.3.1 Experimental Objective 12.3.2 Experimental Analysis 12.3.3 Experimental Procedure 12.3.4 Remark 12.4 Design Experiment 12.4.1 Experimental Objective 12.4.2 Experimental Design 12.4.3 Simulation Procedure 12.4.4 Flight Test Procedure 12.5 Summary Appendix A Platform Advanced Functions A.1 Registration Method of CopterSim A.2 Custom Multicopter Configuration A.3 Set Initial States A.4 3D Scenes Based on UE4 A.5 Developing 3D Scenes Through UE4 A.6 HIL Simulation for Other Types of Multicopters A.7 HIL Simulations of Other Models A.8 Swarm Simulation A.9 Simulation Mode Settings A.10 Multi-computer Distributed Simulation A.11 Swarm Control in Simulink A.12 Vision-based Control Interface Appendix B How Teachers Use This Book B.1 Modify the Goals in the Propulsion System Design and Modeling Experiments for Different Students B.1.1 Modify the Design Experiment of the Multicopter Propulsion System B.1.2 Modify the Design Experiment for the Multicopter Modeling Experiment B.2 Opening New Experiments Appendix References