some one working with quadrotor helicopter ?? we are planning to build the same using a processor 51 series. but really speaking i am new to this programming and control.. if someone can help me it would be a real help.. i need the help even for the algorithm development.. if yo can give me code i would like.
we have brought a 6 degrees of freedom inertial measurement system from sparkfun dampening which has 3 axis accelerometer and 3 axis groscope.. but dont know how to use it for the stabilization..
our first phase is to make the helicopter stable in air.. the movement and control for motion will come in second phase only.. if someone can help i would be really thankfull..
thank you xlove
You better get some high MIPs on that '51 micro to implement the multiple axis controls.
Remember it will take time to make the measurement, then you need to normalize the data, run it through a PID or Lead-Lag/Lag-Lead filter, then scale the results for the output control mechanism (most likely PWM).
Depending upon the loop-closure bandwidth expected (which I suspect would be in the 18-25Hz range), you can get a single 8051 to perform the loop-closure.
You might have to use multiple 8051's and synchronize them... IF you need to stay in the 8051 series.
I recommend that you do some simple calculations on measurement transfer, scaling/normalizing, loop-closure algorithm, scaling, and output timing pre-analysis.
And that is just to run the bare basics of axis control. Then you'll need to coordinate the system.
Seems like an 8051 would be working pretty hard on that project. (Just my initial guess).
--Cpt. Vince Foster 2nd Cannon Place Fort Marcy Park, VA
I don't mean to scare you off from the 8051 doing this project. I've been able to get a single 8051 to get that kind of bandwidth on 6 channels, but I had to be very careful on when the data was converting, coming in, and the timing on the output.
can you send me your code asap to xlove.fransesci@hotmail.com
can you send me your code asap
I just knew this was coming. don't you get it? this assignment requires a lot of work and understand even if you HAVE the code !!!!!
I meant, of course:
"...and understanding even..."