Upravljanje višerotorskom letjelicom korištenjem pokretnih masa bez naginjanja

master's thesis

• Title (english): Control of Non-tilting Multirotor-UAV Based on Moving Mass Concept
• Author: Matija Bedeković
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Zdenko Kovačić (član povjerenstva)
• Committee member: Matko Orsag (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2017-07-21, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovom radu analiziran je i ostvaren koncept upravljanja višerotorskom bespilotnom
letjelicom bez naginjanja. Koncept je utemeljen na upravljanju orijentacijom letjelice
pokretnim masama. Letjelicu saˇcinjavaju ˇcetiri elektriˇcna motora s rotorima
nagnuta prema centru letjelice i ˇcetiri pokretne mase, smještene na krakovima letjelice.
Predstavljen je cjeloviti nelinearni matematiˇcki model letjelice iz kojeg su linearizacijom
dobivene prijenosne funkcije sustava. Na osnovi modela provedena je sinteza
sustava upravljanja u prostoru stanja u svrhu stabilizacije letjelice oko osi valjanja i
poniranja te klasiˇcni PID regulatori za upravljanje visinom, zakretom i translacijskom
brzinom letjelice. Koncept upravljanja ispitan je u Gazebo simulatoru i na letjelici u
laboratorijskom postavu.

Abstract (english)

In this thesis a control concept of a non-tilting multirotor unmanned aerial vehicle
(UAV) is analyzed and implemented. This concept is based on moving mass control.
The vehicle is comprised of four brushless electric motors with rotors tilted towards
the body center and four moving masses placed on the motor arms. A full nonlinear
mathematical model of the UAV is given and linearized to obtain system transfer functions.
The models serve as a base for state space controler design for roll and pitch
stabilization amd PID controllers for height, yaw and translational velocity control.
The control concept is verified in the Gazebo simulator and experimentally on a laboratory
testbed.

• Keywords: bespilotne letjelica; pomične mase; zračna robotika
• Keywords (english): UAV; moving mass control; aerial robotics
• Language: croatian
• URN:NBN: urn:nbn:hr:168:490831
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2019-03-13 18:56:45