Razvoj algoritma upravljanja autonomnom letjelicom s više rotora zasnovanog na promjenjivom centru mase

master's thesis

• Title (english): Multirotor UAV control based on centre of gravity variations
• Author: Katarina Borovina
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Mario Vašak (član povjerenstva)
• Committee member: Ivan Marković (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2016-03-03, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Cilj ovog rada bio je razmotriti mogućnost upravljanja bespilotnom letjelicom s unutrašnjim pomičnim masama.
Razvijen je poopćeni matematički model letjelice s unutrašnjim stupnjevima slobode i dodatnom dinamičkom spregom između letjelice i sustava pomičnih masa.
Opisani model potom je primjenjen na specifičnoj bespilotnoj letjelici uvođenjem restrikcija na gibanje pomičnih masa, kao i definiranjem faktora utjecaje dinamičke međusprege na sustav. Konfiguracija multirotorske letjelice za koju se provela sinteza sustava upravljanja je tako zamišljena da se pomične mase nalaze unutar njezina četiri kraka.
Simulacije su provedene u Matlab Simulink okruženju gdje se prvo proučavala dinamika poniranja, a potom i sveukupna dinamika letjelice.
Cilj upravljanja je aktuacijom pomičnih masa utjecati na lokaciju centra mase što rezultira zakretom i pomakom cijelog sustava. Predložena je kaskadna struktura upravljanja po zakretu letjelice i po pozicijama pomičnih masa sa standardnom PID regulacijom te je ispitana osjetljivost takvog sustava na promjene parametara.

Abstract (english)

The aim of this thesis is to examine actuation of an UAV based on internal moving masses.
Generalized mathematical model of an UAV with internal degrees of freedom and coupled dynamics is developed.
Presented model is rearranged for a specific multirotor UAV by introducing restrictions on movement of internal masses and by defining coefficients that describe influence of coupled dynamics.
Configuration of multirotor UAV, for which the control system has been developed, consists of moving masses placed within its four links.
The simulations were conducted in Matlab Simulink environment where pitch dynamics were studied as well as the overall dynamics of the system.
The main control objective is to set desirable location of the centre of mass by actuating internal moving masses which results in rotation and translation of overall system. Cascade control structure with standard PID regulators that control position of moving masses and rotation of the system has been proposed and sensitivity analysis has been conducted.

• Keywords: centre of gravity variations control; sensitivity analysis; multirotor UAV control; internal degrees of freedom; coupled dynamics
• Keywords (english): upravljanje promjenjivim centrom mase; analiza osjetljivosti; upravljanje multirotorskom bespilotnom letjelicom; unutarnji stupnjevi slobode; dinamička sprega
• Language: croatian
• URN:NBN: urn:nbn:hr:168:148280
• 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: 2018-02-06 07:58:59