{"id":287,"date":"2019-04-24T15:52:43","date_gmt":"2019-04-24T13:52:43","guid":{"rendered":"http:\/\/www.wolter.tech\/wordpress\/?page_id=287"},"modified":"2020-04-11T18:07:04","modified_gmt":"2020-04-11T16:07:04","slug":"control","status":"publish","type":"post","link":"https:\/\/www.wolter.tech\/?p=287","title":{"rendered":"Control Engineering"},"content":{"rendered":"\n<p>My favorite control project thus far as been a quad-copter control project. The project consisted of three steps. In a first step a state space model for a quad-copter had to be found. After testing the model with some simple simulations, an LQR controller based  in  this model was designed. Secondly  a small weight disturbance was added, which was counteracted by using integrators in the controller. Finally to reach more realistic scenarios Kalman-Filtering was included in the design. The plots below show the results of a simulated test flight:<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter is-resized\"><a href=\"https:\/\/www.wolter.tech\/wordpress\/wp-content\/uploads\/2019\/04\/quad_result.png\" target=\"_blank\" rel=\"noreferrer noopener\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/www.wolter.tech\/wordpress\/wp-content\/uploads\/2019\/04\/quad_result.png\" alt=\"\" class=\"wp-image-300\" width=\"497\" height=\"432\" srcset=\"https:\/\/www.wolter.tech\/wordpress\/wp-content\/uploads\/2019\/04\/quad_result.png 657w, https:\/\/www.wolter.tech\/wordpress\/wp-content\/uploads\/2019\/04\/quad_result-300x261.png 300w, https:\/\/www.wolter.tech\/wordpress\/wp-content\/uploads\/2019\/04\/quad_result-624x542.png 624w\" sizes=\"auto, (max-width: 497px) 100vw, 497px\" \/><\/a><\/figure><\/div>\n\n\n\n<p>In the top left plot the red circles show checkpoints which the quad-copter had to reach as quickly as possible. The graphs below the position in x,y,z as well as control actions and the evolution of the quadcopter&#8217;s angles over time is shown. Overall it can be concluded, that the Simulink-LQR-Controller does its job.<\/p>\n\n\n\n<p>Read more of my work on control: <\/p>\n\n\n\n<p> <a href=\"http:\/\/www.wolter.tech\/wordpress\/wp-content\/uploads\/2019\/04\/quad_copter_report.pdf\" target=\"_blank\" rel=\"noreferrer noopener\">Project report of my quadcopter control project<\/a><\/p>\n\n\n\n<p><a href=\"http:\/\/www.wolter.tech\/wordpress\/wp-content\/uploads\/2019\/04\/bachelor_control_thesis.pdf\" target=\"_blank\" rel=\"noreferrer noopener\">Bachelor thesis on pseudospectra in control<\/a> [in German]<\/p>\n","protected":false},"excerpt":{"rendered":"<p>My favorite control project thus far as been a quad-copter control project. The project consisted of three steps. In a first step a state space model for a quad-copter had to be found. After testing the model with some simple simulations, an LQR controller based in this model was designed. Secondly a small weight disturbance &hellip; <\/p>\n<p class=\"link-more\"><a href=\"https:\/\/www.wolter.tech\/?p=287\" class=\"more-link\">Continue reading<span class=\"screen-reader-text\"> &#8220;Control Engineering&#8221;<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[24,6],"tags":[26],"class_list":["post-287","post","type-post","status-publish","format-standard","hentry","category-all","category-master-projects","tag-control","entry"],"_links":{"self":[{"href":"https:\/\/www.wolter.tech\/index.php?rest_route=\/wp\/v2\/posts\/287","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.wolter.tech\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.wolter.tech\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.wolter.tech\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.wolter.tech\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=287"}],"version-history":[{"count":16,"href":"https:\/\/www.wolter.tech\/index.php?rest_route=\/wp\/v2\/posts\/287\/revisions"}],"predecessor-version":[{"id":421,"href":"https:\/\/www.wolter.tech\/index.php?rest_route=\/wp\/v2\/posts\/287\/revisions\/421"}],"wp:attachment":[{"href":"https:\/\/www.wolter.tech\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=287"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.wolter.tech\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=287"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.wolter.tech\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=287"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}