Izdelava kvadkopterja

Lupše, Jan (avtor), Žemva, Andrej (mentor), Zadnik, Damjan (komentor)

V diplomskem delu je predstavljen postopek samostojne izdelave prototipa brezpilotnega letalnika kvadkopterja, ki je krmiljen z brezžičnim krmilnikom Microsoft Xbox preko povezave Bluetooth. Krmiljenje kvadkopterja je izvedeno z mini računalnikom Raspberry Pi 4 Model B in ploščo Arduino Nano Every. Mini računalnik Raspberry Pi 4 Model B deluje z operacijskim sistemom Linux in omogoča dodajanje dodatnih naprav z USB priklopom na prvotno izdelan letalnik. Pri določanju specifikacij smo se osredotočili na analizo ključnih parametrov, kot so masa, nosilnost in čas letenja. Cilj diplomskega dela je bil zasnovati funkcionalen prototip, pri čemer so bili glavni dejavniki izbire teža, dostopnost in cena komponent. Pri izdelavi kvadkopterja so bili uporabljeni štirje brezkrtačni električni motorji tipa A2212/13T 1000KV na enosmerni električni tok z dvokrakimi zračnimi propelerji premera 250 mm. Načrtovano in izdelano je bilo tiskano vezje z elektronskimi komponentami, ki omogoča plošči Arduino Nano Every z mikrokrmilnikom pridobivanje informacij o naklonu, nagibu in odklonu brezpilotnega letalnika in s tem tudi izračunavanje potrebne moči motorjev in prenašanje ustreznih informacij do elektronskih regulatorjev hitrosti. Kvadrokopter je v osnovi podaktuiran brezpilotni letalnik, saj ima šest vrst gibanja, vendar ima le štiri rotorje za nadzor gibanja. Spreminjanje hitrosti štirih rotorjev lahko povzroči potisk, nagib, naklon in odklon, kar povzroči specifične gibe kvadkopterja. Proporcionalno-integralno-derivacijski PID krmilniki ponujajo preprosto, a učinkovito rešitev za stabilizacijo letalnika. Zasnovan in izdelan je bil računalniški program proporcionalno-integralno-derivacijske (PID) regulacije za mikrokrmilnik Arduino Nano Every. To pomeni, da je v našem primeru mikrokrmilnik Arduino prevzel funkcijo PID krmilnika. Zaradi preprostosti in enostavnosti programiranja je bila izbrana verzija PID regulacije z metodo ročnega uglaševanja. Izdelan je bil funkcionalen prototip. Ugotovljene so bile pomanjkljivosti prevelike površine in teže lesene nosilne plošče kvadkopterja, ki delno zavira pretok zraka iz propelerjev navzdol, nezadostne kapacitete uporabljene baterije in napake pri napajanju plošče Arduino.

• Jezik: Slovenski jezik
• Ključne besede: kvadkopter, brezpilotni letalnik, IMU 20948, Arduino Nano Every, Linux, krmilnik letenja, Raspberry Pi 4 Model B, brezžični krmilnik Microsoft Xbox, povezava Bluetooth, dron, tiskano vezje
• Vrsta gradiva: Diplomsko delo/naloga
• Tipologija: 2.11 - Diplomsko delo
• Organizacija: FE - Fakulteta za elektrotehniko
• Leto izida: 2025
• PID: 20.500.12556/RUL-173789
• COBISS.SI-ID: 254342403
• Datum objave v RUL: 23.09.2025

Sekundarni jezik

• Jezik: Angleški jezik
• Naslov: Development of a quadcopter

Izvleček

This bachelor thesis presents the process of independently building a prototype of a quadcopter drone, which is controlled by a Microsoft Xbox wireless controller via a Bluetooth connection. The quadcopter's control system is implemented using a Raspberry Pi 4 Model B mini-computer and an Arduino Nano Every board. The Raspberry Pi 4 Model B runs on the Linux operating system and allows for the addition of extra devices with a USB connection to the initially built drone. When determining specifications, we focused on analyzing key parameters such as mass, payload capacity, and flight time. The goal of the thesis was to design a functional prototype, with the primary factors for component selection being weight, availability, and cost. For the quadcopter's construction, four A2212/13T 1000KV brushless DC electric motors were used, equipped with two-bladed propellers that have a diameter of 250 mm. A printed circuit board (PCB) was designed and manufactured with electronic components that allow the Arduino Nano Every board with the microcontroller to obtain information about the drone's pitch, roll, and yaw. This, in turn, allows for the calculation of the necessary motor power and the transmission of corresponding information to the electronic speed controllers. A quadcopter is essentially an underactuated drone because it has six types of movement but only four rotors to control that movement. Changing the speed of the four rotors can produce thrust, pitch, roll, and yaw, which result in specific quadcopter movements. Proportional-integral-derivative (PID) controllers offer a simple yet effective solution for stabilizing the drone. A computer program for proportional-integral-derivative (PID) control was designed and developed for the Arduino Nano Every microcontroller. This means that in our case, the Arduino microcontroller took on the function of the PID controller. Due to its simplicity and ease of programming, a version of PID control with a manual tuning method was chosen. A functional prototype was successfully built. The identified shortcomings were the excessive surface area and weight of the quadcopter's wooden support plate, which partially inhibits the downward airflow from the propellers, the insufficient capacity of the battery used, and incorrectly supplying power to the Arduino board.

• Ključne besede: quadcopter, UAV, IMU 20948m Arduino, Linux, flight controller, Raspberry Pi 4B, gaming controller, Bluetooth, drone, PCB