[0001] The present disclosure relates generally to field of mechatronics. More particularly, the present disclosure provides a system to facilitate stabilization of an unmanned aerial vehicle.

BACKGROUND
[0002] Background description includes information that may be useful in understanding the present invention. It is not an admission that any of the information provided herein is prior art or relevant to the presently claimed invention, or that any publication specifically or implicitly referenced is prior art.
[0003] Initial setup of an unmanned aerial vehicle (UAV) like drone, quad copter and the likes requires a standard procedure to tune the UAV. However, during first flight there is a possibility that the UAV does not remain stable and moves in either direction without any command. Ideally after initial throttle and without any further command the UAV should remain at a particular height and location as brushless direct current (BLDC) motors do not provide same value of thrust at same pulse width modulation (PWM). In order to make the UAV hover and stable, it is important to tune proportional integral derivative (PID) controller associated with UAV as controlling of the UAV is a tedious task.
[0004] Existing solutions include testing of single motor associated with UAV at a time with help of heavy weighing scales. Other solution can include single load cell to check total thrust produced by the UAV which can be helpful in getting revolution per minute (RPM) and thrust relationship of the UAV. However, the existing solutions can lack testing of all motors associated with the UAV simultaneously and controlling the motors.
[0005] There is a need to overcome above mentioned problem of prior art by bringing a solution that can control all motors associated with the UAV simultaneously along with tuning PID controller. Also, the solution can facilitate obtaining a RPM- thrust relationship of individual motors of the UAV simultaneously along with the other parameters.

OBJECTS OF THE PRESENT DISCLOSURE
[0006] Some of the objects of the present disclosure, which at least one embodiment herein satisfies are as listed herein below.
[0007] It is an object of the present disclosure to provide a system that facilitates proportional integral derivative (PID) tuning without actual flight.
[0008] It is an object of the present disclosure to provide a system where thrust of individual motors is recorded automatically and total thrust can also be obtained.
[0009] It is an object of the present disclosure to provide a system that is easy to test unmanned aerial vehicle of varying rotor size.
[0010] It is an object of the present disclosure to provide a system where revolution per minute (RPM) of individual motor of an unmanned aerial vehicle can be controlled from remote control station.
[0011] It is an object of the present disclosure to provide a system that facilitates obtaining thrust and revolution per minute relationship of unmanned aerial device before flight.
[0012] It is an object of the present disclosure to provide a system that enables controlling motors associated with each rotor blades simultaneously.

SUMMARY
[0013] The present disclosure relates generally to field of mechatronics. More particularly, the present disclosure provides a system to facilitate stabilization of an unmanned aerial vehicle.
[0014] An aspect of the present disclosure pertains to a system to facilitate stabilizing of an unmanned aerial vehicle (UAV). The system may include a UAV, where the UAV may include a set of load cells and a proportional integral derivative (PID) controller. The PID controller may be operatively coupled to the one or more motors. The load cell may be configured with one or more arms of the UAV , where each of the one or more arms can be operatively coupled to one or more motors, where each of load cell from the set of load cells may be configured to sense thrust associated with one or more motors and correspondingly generate a first set of signals. The PID controller can be operatively coupled to the one or more motors. The system may include a control station, where the control station may include a mobile computing device and a controller. The controller may be in communication with the UAV and the mobile computing device. The controller may include one or more processors coupled with a memory, the memory storing instructions executable by the one or more processors. The controller may be configured to extract a second set of signals from the first set of signals, where the second set of signals may pertain to load parameters associated with the one or more motors. The controller may be configured to display the load parameters on the mobile computing device, receive a set of input signals from the mobile computing device based on the displayed load parameters and transmit a set of control signals to the one or more motors and the PID controller based on the received set of input signals. The set of control signals may facilitate tuning the PID controller and controlling speed of the one or more motors and enables stabilizing of the UAV.
[0015] In an aspect, the load cell may include any or a combination of piezoelectric element, strain gauge, and transducer.
[0016] In an aspect, the system includes a test rig, wherein the test rig includes UAV chassis, slot for adjusting the set of load cells along with the one or more motors, and wherein the test rig is communicatively coupled to the control station.
[0017] In an aspect, the display may be operatively coupled to the controller, where the display may be configured to display the load parameters.
[0018] In an aspect, the system may be configured to control the speed of the one or more motors coupled simultaneously based on the displayed load parameters after sensing the thrust associated with the one or more motors.
[0019] In an aspect, the system may include a power source operatively coupled to the control station and the UAV, where the power source may be configured to supply electric power to the controller and the UAV.
[0020] In an aspect, the power source may include any or a combination of battery, cell, electric line, inductor, and capacitor bank.
[0021] In an aspect, the system may be configured to control revolution per minute (RPM) of the one or more motors based on the received set of input signals from the mobile computing device.
[0022] In an aspect, the set of input signals are generated by the mobile computing device based on input entered by the entity , wherein the entity includes any or a combination of operator, UAV pilot, tester and mechanic.
[0023] In an aspect, the input includes any or a combination of revolution per minute (RPM) of the one or more motors, direction of the UAV and tuning parameters of the PID.

BRIEF DESCRIPTION OF THE DRAWINGS
[0024] The accompanying drawings are included to provide a further understanding of the present disclosure, and are incorporated in and constitute a part of this specification. The drawings illustrate exemplary embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.
[0025] The diagrams are for illustration only, which thus is not a limitation of the present disclosure, and wherein:
[0026] FIG. 1 illustrates a block diagram of proposed system to facilitate stabilization of an unmanned aerial vehicle, in accordance with an embodiment of the present disclosure.
[0027] FIG. 2 illustrates an exemplary view of an unmanned aerial device of the proposed system to facilitate stabilization of an unmanned aerial vehicle, in accordance with an embodiment of the present disclosure.
[0028] FIG. 3A and FIG. 3B illustrate an exemplary views of an unmanned aerial device and a control station of the proposed system to facilitate stabilization of an unmanned aerial vehicle, in accordance with an embodiment of the present disclosure.

DETAIL DESCRIPTION
[0029] In the following description, numerous specific details are set forth in order to provide a thorough understanding of embodiments of the present invention. It will be apparent to one skilled in the art that embodiments of the present invention may be practiced without some of these specific details.
[0030] Embodiments of the present invention include various steps, which will be described below. The steps may be performed by hardware components or may be embodied in machine-executable instructions, which may be used to cause a general-purpose or special-purpose processor programmed with the instructions to perform the steps. Alternatively, steps may be performed by a combination of hardware, software, firmware and/or by human operators.
[0031] If the specification states a component or feature “may”, “can”, “could”, or “might” be included or have a characteristic, that particular component or feature is not required to be included or have the characteristic.
[0032] As used in the description herein and throughout the claims that follow, the meaning of “a,” “an,” and “the” includes plural reference unless the context clearly dictates otherwise. Also, as used in the description herein, the meaning of “in” includes “in” and “on” unless the context clearly dictates otherwise.
[0033] While embodiments of the present invention have been illustrated and described, it will be clear that the invention is not limited to these embodiments only. Numerous modifications, changes, variations, substitutions, and equivalents will be apparent to those skilled in the art, without departing from the spirit and scope of the invention, as described in the claim.
[0034] The present disclosure relates generally to field of mechatronics. More particularly, the present disclosure provides a system to facilitate stabilization of an unmanned aerial vehicle.
[0035] FIG. 1 illustrates a block diagram of proposed system to facilitate stabilization of an unmanned aerial vehicle, in accordance with an embodiment of the present disclosure.
[0036] As illustrated in FIG. 1, the proposed system (100) (also referred to as system (100), herein) can include an unmanned aerial vehicle (UAV) (102), where the UAV includes a set of load cells (102-1) and a proportional integral derivative (PID) controller (102-2). The system (100) can include a control station (104), where the control station (104) can include a mobile computing device (104-1) and a controller (104-2). The UAV (102) and the mobile computing device (104-1) can be in communication with the controller (104-2) through a communication module. In an illustrative embodiment, the system (100) can facilitate stabilizing the UAV (102).
[0037] In an embodiment, the set of load cells (102-1) can be configured with one or more arms of the UAV (102), where each of the one or more arms can be operatively coupled to one or more motors. In another embodiment, each of load cell from the set of load cells (102-1) can be configured to sense thrust associated with one or more motors and correspondingly generate a first set of signals. In an illustrative embodiment, the set of load cells (102-1) can include any or a combination of piezoelectric element, strain gauge, transducer, and the likes.
[0038] In an illustrative embodiment, the generated first set of signals by the set of load cells (102-1) can be in electrical form, where the first set of signals can be transmitted to the control station (104) or to the controller (104-2). In another illustrative embodiment, the thrust associated with one or more motors can be sensed only when the one or more motors are activated or when the UAV (102) is initially activate. In yet another illustrative embodiment, the UAV (102) can include one or more arms or rotor blades, where the rotor blades can be in range of number from two to ten, but not limited to the likes.
[0039] In an illustrative embodiment, the system (100) can include a test rig with UAV (102) chassis, slot for adjusting the one or more arms or rotor blades along with the set of load cells (102-1) operatively coupled to the one or more motors. In another illustrative embodiment, the test rig can be communicatively coupled to the control station (104) through a communication module. In yet another illustrative embodiment, the communication module can include any or a combination of Wireless Fidelity (Wi-Fi) module , Bluetooth module, Li-Fi module, optical fiber, Wireless Local Area Network (WLAN), and ZigBee module, Xbee module, and the likes.
[0040] In an embodiment, the PID controller (102-2) can be operatively coupled to the one or more motors.
[0041] In an illustrative embodiment, the mobile computing device (104-1) can be configured to generate a set of input signals when an input is entered by an entity. In another illustrative embodiment, the entity can include any or a combination of operator, UAV pilot, tester, mechanic, and the likes. In yet another illustrative embodiment, the input can be any or a combination of revolution per minute (RPM) of the one or more motors, direction of the UAV (102), tuning parameters of the PID (102-2), and the likes, where the tuning parameters can include any or a combination of proportional gain, integral gain, derivative gain, but not limited to the likes, where the proportional gain, integral gain and derivative gain can be tuned while flying of the UAV (102).
[0042] In an illustrative embodiment, the mobile computing device (104-1) can include any or a combination of cell phone, laptop, portable hand held device, I-pad, but not limited to the likes.
[0043] In an embodiment, the controller (104-2) can be configured to receive the first set of signals from the set of load cells (102-1) in electrical form. In another embodiment, the controller (104-2) can include one or more processors coupled with a memory, the memory storing instructions executable by the one or more processors. In an illustrative embodiment, the controller (104-2) can be microprocessor, microcontroller, flight controller Arduino Uno, At mega 328, other similar processing unit, and the likes.
[0044] In an illustrative embodiment, the controller (104-2) can be configured to extract a second set of signals from the first set of signals, where the second set of signals can pertain to load parameters associated with the one or more motors. In another illustrative embodiment, the controller (104-2) can be configured to display the load parameters on the mobile computing device (104-1), receive a set of input signals from the mobile computing device (104-1) based on the displayed load parameters. The controller (104-2) can be configured to transmit a set of control signals to the one or more motors and the PID controller (102-2) based on the received set of input signals. The set of control signals can facilitate tuning the PID controller (102-2) and controlling speed of the one or more motors and enables stabilizing of the UAV (102).
[0045] In an illustrative embodiment, the controller (104-2) can include sub units like extraction unit, displaying unit, control unit, and other units. In another illustrative embodiment, the first set of signals can be received by the extraction unit in electrical form, where the extraction unit can be configured to extract the load parameters associated with each of the one or more motors in machine readable form or binary form. The load parameters can be transmitted to the displaying unit, where the displaying unit can be configured to transmit the load parameters to the display associated with the mobile computing device (104-1) or to the display like liquid crystal display (LCD), where the load parameters can be displayed on the display. In yet another illustrative embodiment, the control unit can be configured to receive the set of input signals from the mobile computing device (104-1) and can transmit the set of control signals to the one or more motors and the PID controller (102-2).
[0046] In an illustrative embodiment, the control station (104) can include a display operatively coupled to the controller (104-2), where the display can be configured to display the load parameters extracted by the controller (104-2). In another illustrative embodiment, the display can be liquid crystal display, light emitting diode, and the likes. In yet another illustrative embodiment, the load parameters can be displayed on display associated with the mobile computing device (104-1).
[0047] In an embodiment, the system (100) can be configured to control the speed of the one or more motors coupled to each of the one or more arms simultaneously based on the displayed load parameters after sensing the thrust associated with the one or more motors. In another embodiment, the system (100) can include a power source operatively coupled to the control station (104) and the UAV (102), where the power source can be configured to supply electric power to the controller (104-1) and the UAV (102). In an illustrative embodiment, the power source can include any or a combination of battery cell, electric line, inductor, capacitor bank, and the likes.
[0048] In an illustrative embodiment, the system (100) can be configured to control revolution per minute (RPM) of the one or more motors based on the received set of input signals from the mobile computing device (104-1). In another illustrative embodiment, the system (100) can enable obtaining thrust and RPM relationship associated with the UAV (102) before flight.
[0049] In an illustrative embodiment, the test rig can be adapted to accommodate or fix the UAV (102) like drone, quad copter, and the likes of size ranging from two rotor blade to ten rotor blade, but not limited to the likes. The set of load cells (102-1) can be operatively coupled to base and each of the one or more arms or rotor blades, where the set of load cells can be configured to sense thrust associated with the each of the one or more motors, where the one or more motors can be operatively coupled to the set of load cells (102-1). In another illustrative embodiment, the controller (104) can be configured to extract the load parameters from the thrust associated with each of the one or more motors and can transmit the load parameters to the display associated with the mobile computing device (104-1) or to the display like LCD operatively coupled to the controller (104-2) where the load parameters can be displayed on the display. The load parameters can be recorded and monitored by the controller (104-2). The entity can enter the input through the mobile computing device (104-1) based on the displayed load parameters, such that the mobile computing device can be configured to generate the set of input signals.
[0050] In an illustrative embodiment, the controller (104-2) can be configured to receive the set of input signals from the mobile computing device (104-1), and can transmit the set of control signals to the one or more motors and the PID controller (102-2). The thrust associated with each of the one or more motors can enable the entity in interpreting characteristics and behavior of the one or more motors individually and simultaneously, where the entity can tune the PID controller (104-1) which helps in controlling the UAV (102). In another illustrative embodiment, the control station (104) can facilitate changing the RPM of the one or more motors and the tuning parameter of the PID controller (104-1) and facilitates stabilizing the UAV (102).
[0051] In an illustrative embodiment, the one or more arms of the UAV (102) can be coupled to the set of load cells using fasteners like nuts and bolts. Initial throttle can be given to the UAV (102) by the control station (104). In another illustrative embodiment, the one or more motors can be initiated and the one or more arms or the rotor blades can rotate, where the rotation produces thrust and the thrust can be transferred to the set of load cells (102-1). The set of load cells (102-1) can be configured to transmit the thrust to the controller (104-2) in electrical form through the communication module, where the controller (104-2) can facilitate in extracting the load parameters from the thrust associated with each of the one or more motors. The load parameters can be displayed on the LCD or the display associated with the mobile computing device (104-1). The entity can observe values associated with the displayed load parameters and can increase or decrease the RPM of the one or more motors accordingly along with tuning the PID controller (102-2) with help of the mobile computing device (104-1), and where the controller (104-2) can facilitate controlling speed of each of the one or more motors along with tuning of the PID controller (102-2).
[0052] FIG. 2 illustrates an exemplary view of an unmanned aerial device of the proposed system to facilitate stabilization of an unmanned aerial vehicle, in accordance with an embodiment of the present disclosure.
[0053] As illustrated in FIG. 2, the system (100) can include an unmanned aerial device (UAV) (102), with UAV (102) chassis, where the UAV (102) chassis can include a set of load cells (102-1) with base and the one or more arms and a control station (104). The UAV (102) can be communicatively coupled to the control station (104). In an embodiment, the system (100) can facilitate stabilizing the UAV (102) with help of the control station (104) and obtaining a thrust and revolution per minute (RPM) relationship for the UAV (102) before flight.
[0054] FIG. 3A and FIG. 3B illustrate an exemplary views of an unmanned aerial device and a control station of the proposed system to facilitate stabilization of an unmanned aerial vehicle, in accordance with an embodiment of the present disclosure.
[0055] In an embodiment, FIG. 3A and FIG. 3B illustrate UAV (102) and the control station (104) of the system (100). The system (100) can facilitate stabilization of the UAV (102), where the UAV (102) can include a set of load cells (102-1) configured with one or more arms of the UAV (102), where each of the one or more arms can be operatively coupled to one or more motors. The each of the load cell from the set of load cells (102-1) can be configured to sense thrust associated with one or more motors and correspondingly generate a first set of signals. The UAV (102) can include a proportional integral derivative (PID) controller operatively coupled to the one or more motors.
[0056] In an embodiment, the control station (104) can include a mobile computing device (104-1) and a controller (104-2), where the mobile computing device and the UAV can be communicatively coupled to the controller (104-2). The controller (104-2) can include one or more processors coupled with a memory, the memory storing instructions executable by the one or more processors. The controller (104-2) can be configured to extract a second set of signals from the first set of signals, where the second set of signals can pertain to load parameters associated with the one or more motors and display the load parameters on the mobile computing device (104-1). The controller (104-2) can be configured to receive a set of input signals from the mobile computing device (104-1) based on the displayed load parameters and transmit a set of control signals to the one or more motors and the PID controller (102-2) based on the received set of input signals. In another embodiment, the set of control signals can facilitate tuning the PID controller (102-2) and controlling speed of the one or more motors and enables stabilizing of the UAV (102).
[0057] In an embodiment, the load cell can include any or a combination of piezoelectric element, strain gauge, transducer, and the likes. In another embodiment, the system (100) can include a test rig, where the test rig can include a UAV (102) chassis, slot for adjusting the set of load cells (102-1) along with the one or more motors, and where the test rig can be communicatively coupled to the control station (104). In yet another embodiment, the control station (104) can include a display, where the display can be operatively coupled to the controller (104-2), where the display can be configured to display the load parameters.
[0058] In an embodiment, the system (100) can be configured to control the speed of the one or more motors coupled to each of the one or more arms simultaneously based on the displayed load parameters after sensing the thrust associated with the one or more motors. In another embodiment, the system (100) can include a power source operatively coupled to the control station (104-2) and the UAV (102), where the power source can be configured to supply electric power to the controller (104-2) and the UAV (102). In an illustrative embodiment, the power source can include any or a combination of battery, cell, electric line, inductor, capacitor bank, and the likes.
[0059] In an embodiment, the system (100) can be configured to control revolution per minute (RPM) of the one or more motors based on the received set of input signals from the mobile computing device (104-1). In another embodiment, the set of input signals are generated by the mobile computing device (104-1) based on input entered by an entity, where the entity can be any or a combination of operator, UAV pilot, tester, mechanic, and the likes. In yet another embodiment, the input includes any or a combination of RPM of the one or more motors, direction of the UAV (102), tuning parameters of the PID controller (102-2), and the likes, where the tuning parameters can include any or a combination of proportional gain, integral gain, derivative gain, but not limited to the likes, where the proportional gain, integral gain and derivative gain can be tuned while flying of the UAV (102).
[0060] In an illustrative embodiment, the system (100) can enable obtaining thrust and RPM relationship associated with the UAV (102) before flight.
[0061] It should be apparent to those skilled in the art that many more modifications besides those already described are possible without departing from the inventive concepts herein. The inventive subject matter, therefore, is not to be restricted except in the spirit of the appended claims. Moreover, in interpreting both the specification and the claims, all terms should be interpreted in the broadest possible manner consistent with the context. In particular, the terms “comprises” and “comprising” should be interpreted as referring to elements, components, or steps in a non-exclusive manner, indicating that the referenced elements, components, or steps may be present, or utilized, or combined with other elements, ` components, or steps that are not expressly referenced.
[0062] While the foregoing describes various embodiments of the invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof. The scope of the invention is determined by the claims that follow. The invention is not limited to the described embodiments, versions or examples, which are included to enable a person having ordinary skill in the art to make and use the invention when combined with information and knowledge available to the person having ordinary skill in the art.

ADVANTAGES OF THE PRESENT DISCLOSURE
[0063] The present disclosure provides a system that facilitates proportional integral derivative (PID) tuning without actual flight.
[0064] The present disclosure provides a system where thrust of individual motors is recorded automatically and total thrust can also be obtained.
[0065] The present disclosure provides a system that is easy to test unmanned aerial vehicle of varying rotor size.
[0066] The present disclosure provides a system where revolution per minute (RPM) of individual motor of an unmanned aerial vehicle can be controlled from remote control station.
[0067] The present disclosure provides a system that facilitates obtaining thrust and revolution per minute relationship of unmanned aerial device before flight.
[0068] The present disclosure provides a system that enables controlling motors associated with each rotor blades simultaneously.

Claims:1. A system (100) to facilitate stabilization of an unmanned aerial vehicle (UAV), the system (100) comprising:
a UAV (102) comprising:
a set of load cells (102-1) configured with one or more arms of the UAV, wherein each of the one or more arms are operatively coupled to one or more motors, wherein each of load cell from the set of load cells (102-1) is configured to sense thrust associated with one or more motors and correspondingly generate a first set of signals;
proportional integral derivative (PID) controller (102-2) controller operatively coupled to the one or more motors;
a control station (104-1) comprising:
a mobile computing device (104-1), and
a controller (104-2) in communication with the UAV (102-1)and the mobile computing device (104-1), wherein the controller (104-2) include one or more processors coupled with a memory, the memory storing instructions executable by the one or more processors and configured to :
extract a second set of signals from the first set of signals, wherein the second set of signals pertain to load parameters associated with the one or more motors
display the load parameters on the mobile computing device
receive a set of input signals from the mobile computing device based on the displayed load parameters
transmit a set of control signals to the one or more motors and the PID controller based on the received set of input signals,
wherein the set of control signals facilitate tuning the PID controller (102-1) and controlling speed of the one or more motors and enables stabilizing of the UAV (102).
2. The system (100) as claimed in claim 1, wherein the set of load cells (102-1) includes any or a combination of piezoelectric element, strain gauge and transducer.
3. The system (100) as claimed in claim 1, wherein the system (100) includes a test rig, wherein the test rig includes UAV (102) chassis, slot for adjusting the set of load cells (102-1) along with the one or more motors, and wherein the test rig is communicatively coupled to the control station (104).
4. The system (100) as claimed in claim 1, wherein the control station (104) includes a display is operatively coupled to the controller (104-2), wherein the display is configured to display the load parameters.
5. The system (100) as claimed in claim 1, wherein the system (100) is configured to control the speed of the one or more motors coupled to each of the one or more arms simultaneously based on the displayed load parameters after sensing the thrust associated with the one or more motors.
6. The system (100) as claimed in claim 1, wherein the system (100) includes a power source operatively coupled to the control station (104) and the UAV (102), wherein the power source is configured to supply electric power to the controller (104-2) and the UAV (102).
7. The system (100) as claimed in claim 6, wherein the power source includes any or a combination of battery, cell, electric line, inductor, and capacitor bank.
8. The system (100) as claimed in claim 1, wherein the system (100) is configured to control revolution per minute (RPM) of the one or more motors based on the received set of input signals from the mobile computing device (104-1).
9. The system (100) as claimed in claim 1, wherein the set of input signals are generated by the mobile computing device (104-1) based on input entered by an entity , wherein the entity includes any or a combination of operator, UAV pilot, tester and mechanic.
10. The system (100) as claimed in claim 1, wherein the input includes any or a combination of RPM of the one or more motors, direction of the UAV (102) and tuning parameters of the PID controller (102-2).