Project Overview
This project focused on the modeling, control system design, and implementation for a virtual Kitticopter system. The project was conducted in two phases, each corresponding to a lab session (Lab 2 and Lab 3).
Objectives
- System Modeling and Identification:
- Develop an accurate mathematical model of the virtual Kitticopter system using free-body diagrams, differential equations, and block diagrams.
- Determine the specific transfer function of the Kitticopter system through experimental step response tests.
- Validate the system model using MATLAB simulations.
- Controller Design:
- Design a proportional controller (Lab 2) to meet initial performance specifications.
- Design an improved lead-compensator controller (Lab 3) to enhance system performance beyond that achieved with the proportional controller.
- Performance Specifications:
- Achieve position input tracking with greater than 90% accuracy.
- Improve settling time by at least 20% compared to the uncompensated closed-loop system.
- Limit overshoot to less than 5%.
- Ensure robustness to uncertainty of up to 10% in the system's aerodynamic constant.
- Controller Implementation:
- Construct and test controller circuits on breadboards.
- Refine and finalize controller designs on veroboards.
Project Details
The project involves the following tasks:
- System Identification and Modeling
- Controller Design and Implementation
- Controller Testing and Validation
Outcomes and Results
- Proportional Controller (Lab 2):
- Achieved tracking accuracy above 99%.
- Met settling time improvement and overshoot specifications.
- Lead-Compensator Controller (Lab 3):
- Further improved settling time (τ = 1.2s, significantly faster than the uncompensated system's τ = 11.8s).
- Achieved tracking accuracy of 99.72% (error of 0.283%).
- Eliminated visible overshoot.
- Demonstrated ability to handle output disturbances effectively.
Project Document
For more detailed information, you can view the full project document here: