Upravljenje multirotorskom letjelicom pomoću rotora s promjenjivom ravninom vrtnje

master's thesis

• Title (english): Control of Multirotor-UAV by Using Variable Rotational Plane Rotors
• Author: Filip Zorić
• 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: 2018-07-16, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovom radu implementirano je upravljanje na postoje´cem modelu multirotorske letjelice
s benzinskim motorima pomo´cu rotora s promjenjivom ravninom vrtnje. Pretpostavlja
se da su rotori aktuirani servo motorima te imaju jednu os rotacije. Razvijen je
upravljaˇcki algoritam za pomak letjelice u horizontalnoj ravnini bez promjena kutova
poniranja i valjanja. Funkcionalnost algoritma ispitana je u Gazebo simulacijskom
okruženju uz pomo´c robotskog operacijskog sustava i programskog jezika Python.

Abstract (english)

Purpose of this paper is to control existing model of multirotor-UAV with internalcombustion
engines with variable rotational plane rotors. Rotors are actuated with
servo-motors and they have one axis of rotation. The control algorithm is developed
which enables horizontal flight of multirotor-UAV without affecting pitch and roll angles.
Algorithm functionality is tested in Gazebo simulation environment with Robot
operating system and Python programming language.

• Keywords: multirotorska letjelica; upravljanje; robotski operacijski sustav; promjenjiva ravnina vrtnje; Gazebo
• Keywords (english): Multirotor-UAV; control; robot operational system; variable rotational plane; Gazebo
• Language: croatian
• URN:NBN: urn:nbn:hr:168:068564
• 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: 2019-03-14 02:19:53