Krmiljenje helikopterja s štirimi pogonskimi osmi s pomočjo odprtokodne platforme Arduino

diplomsko delo univerzitetnega študijskega programa

Lovro Hartman (Author), Aleš Holobar (Mentor), Boris Cigale (Co-mentor)

Abstract

V diplomskem delu je opisan razvoj helikopterja s štirimi pogonskimi osmi in programska zasnova kontrolnega dela, ki služi za upravljanje plovila. Prototip plovila zajema strojne komponente pogonskega sklopa, konstrukcijo plovila in elektronske komponente kontrolnega dela, kamor sodijo senzorji in vhodno/izhodna plošča Arduino Mega. Razviti moduli in sistem za upravljanje plovila so implementirani v programskem jeziku Wiring z uporabo razvojnega okolja Arduino. Sistem vodenja plovila je nadgrajen s krmilnikom PID, ki skrbi za stabilizacijo plovila okoli prostorskih osi, in sistemom za samodejno izravnavo, kjer informacijo o naklonu plovila ocenjujemo z uporabo Kalmanovega fifiltra.

Keywords

Arduino;helikopter;lebdeča plovila;krmilnik PID;senzorji;mikrokrmilniki;

Data

Language:	Slovenian
Year of publishing:	2010
Source:	Maribor
Typology:	2.11 - Undergraduate Thesis
Organization:	UM FERI - Faculty of Electrical Engineering and Computer Science
Publisher:	[L. Hartman]
UDC:	004.4:62-5(043.2)
COBISS:	14664214
Views:	2809
Downloads:	452
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Control of quadcopter using an open source Arduino platform
Secondary abstract:	This thesis addresses the development of a quad-rotor helicopter and desing and implementation of its control system software used to operate the aircraft. Prototype includes powertrain hardware components, aircraft frame and electronic components of the control system, which includes sensors and Arduino Mega I/O board. Developed software modules and aircraft control system are implemented in a Wiring programming language and native Arduino IDE. Aircraft control system is upgraded with five diferent PID controllers that provide stabilization arround the three spatial axes and auto-leveling system, where aircraft attitude is estimated with the help of Kalman fifilter.
Secondary keywords:	Arduino;helicopter;floating vehicles;PID controller;sensors;
URN:	URN:SI:UM:
Type (COBISS):	Bachelor thesis/paper
Thesis comment:	Univ. v Mariboru, Fak. za elektrotehniko, računalništvo in informatiko
Pages:	IX, 41 f.
Keywords (UDC):	science and knowledge;organization;computer science;information;documentation;librarianship;institutions;publications;znanost in znanje;organizacije;informacije;dokumentacija;bibliotekarstvo;institucije;publikacije;prolegomena;fundamentals of knowledge and culture;propaedeutics;prolegomena;splošne osnove znanosti in kulture;computer science and technology;computing;data processing;računalniška znanost in tehnologija;računalništvo;obdelava podatkov;software;programje;applied sciences;medicine;technology;uporabne znanosti;medicina;tehnika;engineering;technology in general;inženirstvo;tehnologija na splošno;operation and control of machines and processes;režim dela in upravljanje s stroji in procesi;
ID:	992183