Bespilotna letjelica s promjenjivim metodama upravljanja nagiba

undergraduate thesis

• Title (english): Unmanned aerial vehicle with variable attitude control mechanisms
• Author: Hrvoje Žmavc
• Mentor: Matko Orsag (mentor)
• Committee member: Matko Orsag (predsjednik povjerenstva)
• Committee member: Marko Car (član povjerenstva)
• Committee member: Lovro Marković (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2019-09-10, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Opisan koncept bespilotne letjelice s promjenjivim metodama upravljanja nagiba.
Predstavljen kratak osvrt na matematički model i prijenosne funkcije. Opisani dijelovi letjelice te objašnjen odabir komponenata. Projektirana je i provjerena mehanička konstrukcija letjelice u CAD alatu. Letjelica pripremljena za izradu te je izrađena os
letjelice za daljnje testiranje i potvrdu koncepta. Opisano je elektroničko sklopovlje te objašnjen odabir elektroničkih komponenti. Objašnjenja programska struktura te predstavljeno programsko rješenje za upravljanje pojedinim aktivnim komponentama
letjelice. Model letjelice je implementiran u Gazebo simulatoru.

Abstract (english)

Concept of unmanned aerial vehicle with variable attitude control mechanisms is
described. A short overview of mathematical model and transfer functions was presented. Aerial vehicle parts were described and component choice explained. Mechanical
construction of aerial vehicle was designed and tested in CAD tool. Aerial vehicle was
prepared for making and a single axis of aerial vehicle was made for further testing and
confirmation of concept. Electronic circuitry was described and electronic component
choice explained. Programming structure was explained and programming solutions
for control of individual active components was presented. Aerial vehicle model was
implemented in Gazebo simulator.

• Keywords: bespilotna multirotor letjelica bez nagiba; kontrola pomicnim masama; bespilotna multirotor letjelica; dizajn upravljackog sustava; Gazebo simulator
• Keywords (english): nontilting multirotor-UAV; moving mass control; multirotor unmanned aerial vehicle; body center; control system design; Gazebo simulator
• Language: croatian
• URN:NBN: urn:nbn:hr:168:375727
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2020-01-07 23:13:05