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In this paper, we describe the dynamic model of a four-rotor mini rotorcraft, and present the hardware design of real-time embedded control system for small Unmanned Aerial Vehicles (SUAV). We improve the driver performance for Brushless Direct Current (BLDC) motor. In addition, the modular programming method is adopted in software design to carry out the computation of control law, data processing...
The real-time embedded control system for the quad-rotor helicopter is designed by using commercially available components which are inexpensive with the driver modified of BLDC (Brushless Direct Current) motor. These components are integrated into the electric PCB (Printed Circuit Board) meanwhile the corresponding embedded multitasking software is developed. We evaluate the performance of this platform...
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