Stabilisering av autonom quadrotor
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Typ
Examensarbete på grundnivå
Program
Elektroteknik 180 hp (högskoleingenjör)
Publicerad
2014
Författare
Larsson, Patrik
Neugebauer, Victor
Modellbyggare
Tidskriftstitel
ISSN
Volymtitel
Utgivare
Sammanfattning
The different physical properties of the quadrotor have been observed through various step-response analysis. Four PID-controllers have been designed using Ziegler-Nichol’s method. These controllers have been programmed into an Arduino Mega which is connected to multiple different sensors with a low sampling frequency of approximately 11 Hz. The stability of the finished product acheived the specifications set at the beginning of the project. There is also an option for an end-user to communicate with the quadrotor through a Wi-Fi connection with a basic user interface. A GPS circtuit has been mounted on the quadrotor, enabling navigation between different waypoints specified by GPS coordinates. iii
Beskrivning
Ämne/nyckelord
Data- och informationsvetenskap , Computer and Information Science