Abstract
This paper aim to present the benefit of using a gyroscopic test bench to evaluate angular stability, test and tune different control algorithms in real time. Quadcopter model dynamics are studied in first place for designing system requirement, which is then used to design the controller. This later is implemented on a DSP F28379D hardware target and communicate with the host via a serial interface. The proposed controller scheme is a gain scheduling PID controller where its parameters changes according to the operating point. To further fine tune those parameters, the paper propose a hardware in the loop simulation using matlab where PID gains are updated from the host and loaded to the target at each sample time.
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El Houm, Y., Abbou, A., Mousmi, A., Labbadi, M. (2020). Quadcopter Attitude Stabilization in a Gyroscopic Testbench. In: Serrhini, M., Silva, C., Aljahdali, S. (eds) Innovation in Information Systems and Technologies to Support Learning Research. EMENA-ISTL 2019. Learning and Analytics in Intelligent Systems, vol 7. Springer, Cham. https://doi.org/10.1007/978-3-030-36778-7_68
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DOI: https://doi.org/10.1007/978-3-030-36778-7_68
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