Zagotavljanje stabilnosti kvadrokopterja s pomočjo platforme Arduino

Bratuša, Urška (author), Podržaj, Primož (mentor), Vrabič, Rok (co-mentor)

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.

• Language: Slovenian
• Keywords: kvadrokopter, naklonski koti, inercialna merilna enota, PID krmilnik, Arduino
• Work type: Bachelor thesis/paper
• Typology: 2.11 - Undergraduate Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Place of publishing: Ljubljana
• Publisher: [U. Bratuša]
• Year: 2021
• Number of pages: XXII, 62 str.
• PID: 20.500.12556/RUL-129183
• UDC: 004:629.014.9(043.2)
• COBISS.SI-ID: 76264195
• Publication date in RUL: 28.08.2021

Secondary language

• Language: English
• Title: Stabilization of a quadcopter using the Arduino platform

Abstract

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.

• Keywords: quadcopter, roll and pitch angle, inertial measurement unit, PID controller, Arduino