Reglering av ett UAV-system En initial prototyp för ett styrsystem till en Quadcopter
Examensarbete på grundnivå
Elektroteknik 180 hp (högskoleingenjör)
This report discusses the development and construction of a digital control system for an autonomous UAV (Unmanned Aerial Vehicle). The vehicle in this project is a quadcopter which is a type of helicopter with four rotors that are controlled individually according to the desired flight pattern. The idea for the project was evoked by an interest in the complexity of this type of control system, and what challenges might arise in the developing process. The goal of the project is to investigate whether a stable flight, with specific components, can be achieved. The primary objective is to develop a control system that balances the quadcopter perpendicular to the z-axis of the room. This is a crucial first step for further development of the control system. A major part of the report deals with modeling of the quadcopter and its subsystems. Consequently, simulation of these models constitutes a considerable part of the report and its results. The report presents different methods of how theoretical models are developed, with reference to the quadopter's subsystems. A series of experiments was conducted on the physical model in order to collect the measurement data used for modeling. The method also included simulations on models for testing different functions in a controlled environment. Finally, the functions were implemented on the hardware and the results were evaluated and compared to those of the simulation. Another substantial part of the method is the development of software which constitutes the control system. Furthermore, the report also describes the construction of the hardware required to realize the entire system. The project resulted in an initial prototype of a control system for height and angle control with related theoretical models for the system. For height control, this was treated theoretically and solely in a simulation environment. The angle control was treated in the same manner, except this was also applied to the hardware and evaluated. In addition, the project resulted in developed hardware and software environments for the design. The results also contain the simulation environments that formed the basis for the design of the control system.
Data- och informationsvetenskap , Computer and Information Science