Development of a Microprocessor Quadrotor Control System

Testing quadcopter control systems in free flight conditions may involve risks to the integrity of the vehicle and the health of the researchers. In this regard, the question of mathematical modeling application as well as the creation of a safe environment for experiments arises. The paper considers the development of a quadcopter control system taking into account the influence of the gyroscopic structure of the experimental stand on the mechanics of its motion, namely the displacement of the center of rotation of the apparatus from its center of mass. Using the Lagrange method, a mathematical model of the apparatus was constructed, taking into account the distance between its center of mass and the axes of rotation of the rig. The control system modules are realized based on Robot Operating System. Data reception about the state of the apparatus, calculation of control actions and their transfer to the driver is performed on the on-board microcomputer Raspberry Pi. The developed control system was tested in a software environment with consideration of noise and time delays, as well as verified in flight experiments on tilt angle retention. The obtained results confirmed the necessity of model adaptation to experimental conditions.