Plataforma giroscópica mejorada para la práctica docente en Ingeniería de control

Abstract

Unmanned Aerial Vehicles (UAV) have undergone an important evolution in all sectors. In order to properly develop their capabilities, it has been necessary to adequately model them, develop control systems, implement them, and experimentally evaluate them. This last point is complex from a training point of view, since outdoor tests are impractical. To this end, platforms have been developed to facilitate modelling experiments and evaluation of UAV capabilities. Recent work includes the development of a gyroscopic platform for attitude and orientation control of UAVs, which integrates both mechanical and communication elements, as well as a software system for loading and testing controllers in the UAV. Due to its performance and ease of use (Simulink compatibility), this platform has been used for various purposes, such as control engineering educational competitions. However, despite the simplicity and versatility it offers, the platform has shown some shortcomings throughout its use: asymmetric friction, displaced centre of gravity, flight controller with limited computational capacity, low control layer without supervision, motors with limited capacity, among others. This work presents the improvements made to this platform to correct these shortcomings, through the design of a new UAV structure, the use of a new controller design and the introduction of new propulsion systems.