Modeliranje sustava i simulacija bespilotne letjelice na ispitnoj stanici s pretvaračem

master's thesis

• Title (english): System modeling and simulation of an unmanned aerial vehicle on an inverter testbed
• Author: Korina Hrkać
• Mentor: Petar Mostarac (mentor)
• Committee member: Petar Mostarac (predsjednik povjerenstva)
• Committee member: Hrvoje Hegeduš (član povjerenstva)
• Committee member: Alan Šala (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2022-07-01, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Bespilotne letjelice kvalificiraju se letjelica koje ne sadrže posadu, a imaju vlastiti pogon. Preko Newton-Eulerove metode, u Simulinku je napravljen model kvadrotora sa šest stupnjeva slobode koji sadrži referencu, objekt upravljanja i regulacijski sustav. Pokrenuta je offline simulacija za validaciju parametara regulatora. Cilj ovog rada je bio napraviti simulaciju na RT simulatoru u kojem su se odvila tri scenarija leta: lebdenje, manevri valjanja i propinjanja te izvođenje spirale. Snimanje rezultata iz stvarnog vremena se uspoređuje s offline simulacijom.

Abstract (english)

Unmanned aerial vehicles, known as UAV, qualify as an aircraft without any human pilot, crew, or passengers on board. In Simulink, a model of a quadcopter with six degrees of freedom that includes a reference, a control object, and a control system was created using the Newton-Euler method. An offline simulation for validation of controller parameters has been implemented. In order to simulate three different flying scenarios—hovering, rolling and pitching maneuvers, and spiral execution—in this thesis an RT simulator was used. Real-time results recording is contrasted with offline simulation.

• Keywords: kvadrotor; model; regulacijski sustav; RT simulator; testna jedinica
• Keywords (english): UAV; quadcopter; control system; control object; RT simulation
• Language: croatian
• URN:NBN: urn:nbn:hr:168:186821
• 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: 2023-01-13 15:05:40