Paarth Rathore

Aerospace Attitude Control Investigation

Started May 22, 2024

Abstract or project description

In this project, I developed a control algorithm to self-balance a see-saw with propellers on either end. The algorithm utilizes PD (Proportional-Derivative) control and was first simulated in Python before being tested in real life using Arduino code. PD control combines a proportional gain and a derivative gain, which are multiplied by the error and the rate of change of the error, respectively, to calculate the delta thrust. Here, the error is defined as the difference between the current angle and the desired angle, while the change in error is the difference between the new error and the old error.

The system's base throttle is set to 1050 (5% power), so a delta thrust of 40 would result in 1090 (9% power) on one propeller and 1010 (1% power) on the other. For this setup, the proportional gain was set to 0.6, and the derivative gain to 0.01. The see-saw is mounted on a test stand, with brushless motors driving the propellers. These motors are connected to electronic speed controllers (ESCs), which in turn are connected to a breadboard controlled by an Arduino Nano. The Nano serves as the system's brain, receiving my code through a USB Mini-B cable.

The breadboard also contains a MPU-6050, which contains both a gyroscope and an accelerometer. Using a complementary filter, the system calculates the angle accurately. The ESCs are powered by a Lithium Polymer (LiPo) battery, which supplies energy to the test stand. Together, these components maintain the see-saw's balance.