Control Performance for Dual Power Quad-Rotor in Quad-Rotor System

Quad rotor system has been developed into mature applications. Due to battery power constraint, the quad rotor system is limited by its payload and flight endurance. To overcome these drawbacks, a dual power multi-rotor system is designed by introducing dual systems of engine-driven and motor-driven quad-rotors, named as Quad-in-Quad (QiQ) system. Obtaining from high thrust, gasoline engine-driven system contributes major lift for the payload, while DC motor-driven system offers fast control performance in attitude and stability. To provide stable lift, microprocessor control system is designed and implemented to make gas engine control speed precisely matching in four directions. Engine characteristic input/output linearization into multiple piecewise linear makes engine be controllable with simple PD controller. Control algorithm formulation by 1000 steps of "throttle percentage" to smooth the engine response has been implemented into micro-controller and achieved precise engine RPM control for four engines. The step response tests have verified four engines to accomplish similar characteristics within 2% to result in highly stable flight control for the proposed QiQ system.