Gene Patrick Rible | University of the Philippines Diliman (original) (raw)
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Papers by Gene Patrick Rible
IP Philippines e-Gazette Publications, Sep 21, 2020
The present invention relates to the control of a quadcopter experiencing a failure affecting a s... more The present invention relates to the control of a quadcopter experiencing a failure affecting a single rotor. In particular, the invention relates to a computer-implemented method for controlling and stable movement to any coordinate of a quadcopter by actuating a trinity of rotors.
A quadcopter comprises a body being configured as a center of mass, a plurality of arms being attached to the body on one end and to a plurality of motors. Also, a plurality of rotors being operably connected individually to the plurality of motors.
Furthermore, a plurality of sensors is being operably connected to a processor. Said processor is being configured to execute a computer-implemented method for controlling and stable movement to any coordinate of a quadcopter by actuating a trinity of rotors. Also, said processor is operably connected to the plurality of motors to provide control and movements instructions of the quadcopter. Lastly, a power source is being connected to the processor, the plurality of sensors and the plurality of motors.
IP Philippines e-Gazette Publications, Sep 21, 2020
The present invention relates to the control of a quadcopter experiencing a failure affecting a p... more The present invention relates to the control of a quadcopter experiencing a failure affecting a pair of rotors. In particular, the invention relates to a computer-implemented method for controlling and stable movement to any coordinate of a quadcopter by actuating a pair of opposing rotors.
A quadcopter comprises a body being configured as a center of mass, a plurality of arms being attached to the body on one end and to a plurality of motors. Also, a plurality of rotors being operably connected individually to the plurality of motors.
Furthermore, a plurality of sensors is being operably connected to a processor. Said processor is being configured to execute a computer-implemented method for controlling and stable movement to any coordinate of a quadcopter by actuating a pair of opposing rotors. Also, said processor is operably connected to the plurality of motors to provide control and movements instructions of the quadcopter. Lastly, a power source is being connected to the processor, the plurality of sensors and the plurality of motors.
2020 6th International Conference on Control, Automation and Robotics (ICCAR), Jun 4, 2020
A fail-safe algorithm in case of motor failure was developed, simulated, and tested. For practica... more A fail-safe algorithm in case of motor failure was developed, simulated, and tested. For practical fail-safe flight, the quadcopter may fly with only three or two opposing propellers. Altitude for two-propeller architecture was maintained by a PID controller that is independent from the inner and outer controllers. A PID controller on propeller force deviations from equilibrium was augmented to the inner controller of the three-propeller architecture. Both architectures used LQR for the inner attitude controller and a damped second order outer controller that zeroes the error along the horizontal coordinates. The restrictiveness, stability, robustness, and symmetry of these architectures were investigated with respect to their output limits, initial conditions, and controller frequencies. Although the three-propeller architecture allows for distribution of propeller forces, the two-propeller architecture is more efficient, robust, and stable. The two-propeller architecture is also robust to model uncertainties. It was shown that higher yaw rate leads to greater stability when operating in fail-safe mode.
Advances in Science, Technology and Engineering Systems Journal, Oct 10, 2020
To properly simulate and implement a quadcopter flight control for intended load and flight condi... more To properly simulate and implement a quadcopter flight control for intended load and flight conditions, the quadcopter model must have parameters on various relationships including propeller thrust-torque, thrust-PWM, and thrust–angular speed to a certain level of accuracy. Thrust-torque modeling requires an expensive reaction torque measurement sensor. In the absence of sophisticated equipment, the study comes up with alternative methods to complete the quadcopter model. The study also presents a method of modeling the rotational aerodynamic drag on the quadcopter. Although the resulting model of the reaction torque generated by the quadcopter’s propellers and the model of the drag torque acting on the quadcopter body that are derived using the methods in this study may not yield the true values of these quantities, the experimental modeling techniques presented in this work ensure that the derived dynamic model for the quadcopter will nevertheless behave identically with the true model for the quadcopter. The derived dynamic model is validated by basic flight controller simulation and actual flight implementation. The model is used as basis for a quadcopter design, which eventually is used for test purposes of basic flight control. This study serves as a baseline for fail-safe control of a quadcopter experiencing an unexpected motor failure.
IP Philippines e-Gazette Publications, Sep 21, 2020
The present invention relates to the control of a quadcopter experiencing a failure affecting a s... more The present invention relates to the control of a quadcopter experiencing a failure affecting a single rotor. In particular, the invention relates to a computer-implemented method for controlling and stable movement to any coordinate of a quadcopter by actuating a trinity of rotors.
A quadcopter comprises a body being configured as a center of mass, a plurality of arms being attached to the body on one end and to a plurality of motors. Also, a plurality of rotors being operably connected individually to the plurality of motors.
Furthermore, a plurality of sensors is being operably connected to a processor. Said processor is being configured to execute a computer-implemented method for controlling and stable movement to any coordinate of a quadcopter by actuating a trinity of rotors. Also, said processor is operably connected to the plurality of motors to provide control and movements instructions of the quadcopter. Lastly, a power source is being connected to the processor, the plurality of sensors and the plurality of motors.
IP Philippines e-Gazette Publications, Sep 21, 2020
The present invention relates to the control of a quadcopter experiencing a failure affecting a p... more The present invention relates to the control of a quadcopter experiencing a failure affecting a pair of rotors. In particular, the invention relates to a computer-implemented method for controlling and stable movement to any coordinate of a quadcopter by actuating a pair of opposing rotors.
A quadcopter comprises a body being configured as a center of mass, a plurality of arms being attached to the body on one end and to a plurality of motors. Also, a plurality of rotors being operably connected individually to the plurality of motors.
Furthermore, a plurality of sensors is being operably connected to a processor. Said processor is being configured to execute a computer-implemented method for controlling and stable movement to any coordinate of a quadcopter by actuating a pair of opposing rotors. Also, said processor is operably connected to the plurality of motors to provide control and movements instructions of the quadcopter. Lastly, a power source is being connected to the processor, the plurality of sensors and the plurality of motors.
2020 6th International Conference on Control, Automation and Robotics (ICCAR), Jun 4, 2020
A fail-safe algorithm in case of motor failure was developed, simulated, and tested. For practica... more A fail-safe algorithm in case of motor failure was developed, simulated, and tested. For practical fail-safe flight, the quadcopter may fly with only three or two opposing propellers. Altitude for two-propeller architecture was maintained by a PID controller that is independent from the inner and outer controllers. A PID controller on propeller force deviations from equilibrium was augmented to the inner controller of the three-propeller architecture. Both architectures used LQR for the inner attitude controller and a damped second order outer controller that zeroes the error along the horizontal coordinates. The restrictiveness, stability, robustness, and symmetry of these architectures were investigated with respect to their output limits, initial conditions, and controller frequencies. Although the three-propeller architecture allows for distribution of propeller forces, the two-propeller architecture is more efficient, robust, and stable. The two-propeller architecture is also robust to model uncertainties. It was shown that higher yaw rate leads to greater stability when operating in fail-safe mode.
Advances in Science, Technology and Engineering Systems Journal, Oct 10, 2020
To properly simulate and implement a quadcopter flight control for intended load and flight condi... more To properly simulate and implement a quadcopter flight control for intended load and flight conditions, the quadcopter model must have parameters on various relationships including propeller thrust-torque, thrust-PWM, and thrust–angular speed to a certain level of accuracy. Thrust-torque modeling requires an expensive reaction torque measurement sensor. In the absence of sophisticated equipment, the study comes up with alternative methods to complete the quadcopter model. The study also presents a method of modeling the rotational aerodynamic drag on the quadcopter. Although the resulting model of the reaction torque generated by the quadcopter’s propellers and the model of the drag torque acting on the quadcopter body that are derived using the methods in this study may not yield the true values of these quantities, the experimental modeling techniques presented in this work ensure that the derived dynamic model for the quadcopter will nevertheless behave identically with the true model for the quadcopter. The derived dynamic model is validated by basic flight controller simulation and actual flight implementation. The model is used as basis for a quadcopter design, which eventually is used for test purposes of basic flight control. This study serves as a baseline for fail-safe control of a quadcopter experiencing an unexpected motor failure.