20.500.12556/RUL-129183 Zagotavljanje stabilnosti kvadrokopterja s pomočjo platforme Arduino Stabilization of a quadcopter using the Arduino platform Diplomsko delo predstavlja in za let usposablja kvadrokopter, ki obsega komponente pogonskega in kontrolnega dela, kamor spadata razvojna plošča Arduino Uno in inercialna merilna enota, s pomočjo katere pridobimo informacije o naklonskih kotih. Na podlagi izmerjenih kotov in izbranega proporcionalno – integracijskega diferencirnega (PID) krmilnika smo izračunali potreben potisk motorjev za zagotavljanje stabilnosti . Krmilnik je implementiran v programskem jeziku C++ z uporabo razvojnega okolja Arduino. Naloga prikazuje odzive sistema pri različnih nastanitvenih parametrih PID krmilnika, ki smo jih ocenili s pomočjo izdelane konstrukcijske platforme. Delo prav tako predstavlja in raziskuje odzive sistema na spremembo ukazov s pomočjo oddajnika, pri testiranju kvadrokoptra na konstrukciji z zglobom. The thesis presents design and development of a quadcopter, which includes drive and control components that contain Arduino Uno development board and an inertial measuring unit, with the help of which we are able to obtain information on inclination angles. Based on the measured angles and the selected proportional – integral – derivative (PID) controller, we calculated the required engine thrust to ensure the stability of the vessel. The controller is implemented in C++ programming language using the Arduino development environment. The thesis presents the system responses to PID control parameters, which were evaluated using a manufactured constructional platform. The work also presents and explores the system responses to changing commands using a transmitter when testing a quadcopter on a joint structure. kvadrokopter naklonski koti inercialna merilna enota PID krmilnik Arduino quadcopter roll and pitch angle inertial measurement unit PID controller Arduino true false false [U. Bratuša] Slovenski jezik Angleški jezik Diplomsko delo/naloga 2021-08-28 08:31:13 2021-08-28 08:31:15 2023-11-14 09:59:18 0000-00-00 00:00:00 2021 0 Ljubljana 0 XXII, 62 str. 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 1970-01-01 004:629.014.9(043.2) 232454 76264195 10236.pdf 10236.pdf 1 248BD4ABBA5283F163A85AF9A5408D4B fa5393fb9c3ee79e1b9163567a441006ac70a7737c1a7ace51de6a040e004b13 521463d7-07c9-11ec-a523-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=146131 Fakulteta za strojništvo 0 0 0