Upravljanje bespilotnom letjelicom promjenom centra mase

master's thesis

• Title (english): Unmanned aerial vehicle control with centroid variations
• Author: Hrvoje Žmavc
• Mentor: Matko Orsag (mentor)
• Committee member: Matko Orsag (predsjednik povjerenstva)
• Committee member: Zdenko Kovačić (član povjerenstva)
• Committee member: Goran Vasiljević (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2021-09-23, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U sklopu ovog diplomskog rada dizajnirano i isprobano je elektroničko sklopovlje, dizajnirana i izrađena je tiskana pločica te je izrađeno programsko rješenje za upravljanje koračnim motorima. Takvo rješenje je ugrađeno na postojeći sustav bespilotne letjelice u svrhu upravljanja nagiba letjelice promjenom centra mase letjelice tj. pomakom koračnih motora. Izrađen je matematički model sustava upravljanja, provedena odgovarajuća sinteza upravljanja te je izrađen i odgovarajući algoritam za upravljanje koji je implementiram u programskom rješenju.

Abstract (english)

In this master thesis, an electronic circuit was designed and tested, the printed circuit board was designed and built with a supported software solution for control of stepper motors. Such a solution was implemented on an already existing unmanned aerial vehicle system with the purpose of controlling the attitude of the vehicle i.e. moving stepper motors to control the vehicle's center of mass. Systems mathematical model was derived, the control system was synthesized and the corresponding algorithm for control was implemented in a software solution.

• Keywords: bespilotna letjelica; multirotorska letjelica; promjenjive metode upravljanja nagiba; pokretne mase; ugradbeni računalni sustavi; dizajn tiskane pločice; Robotski Operacijski Sustav
• Keywords (english): unmanned aerial vehicle; multirotor aerial vehicle; variable attitude control mechanisms; moving mass; embedded systems; printed circuit board design; Robot Operating System
• Language: english
• URN:NBN: urn:nbn:hr:168:076603
• 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 09:24:56