Upravljane autonomnim letjelicama primjenom aktivne kompenzacije poremećaja

master's thesis

• Title (english): Active disturbance rejection control of unmanned aerial vehicles
• Author: Tomislav Skender
• Mentor: Josip Kasać (mentor)
• Committee member: Zoran Kunica (predsjednik povjerenstva)
• Committee member: Ivica Garašić (član povjerenstva)
• Committee member: Tomislav Staroveški (član povjerenstva)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2020-12-03, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U ovome je radu predloženo upravljanje kvadkopterom primjenom aktivne kompenzacije poremećaja (ADRC) zasnovane na proširenom observeru stanja (ESO). Efikasnost i performanse regulacije kvadkoptera primjenom predloženog upravljačkog algoritma ispitane su u simulacijama na računalu, u kojima je predloženi upravljački algoritam kvadkoptera testiran na primjeru slijeđenja proizvoljne referentne trajektorije u uvjetima prisutnih nepoznatih, vremenski promjenjivih, vanjskih poremećaja. Nadalje, u sklopu ovoga rada izveden je matematički model kvadkoptera koji se koristi za simuliranje sustava, ali i kod sinteze ADRC regulatora i proširenog observera stanja, uvođenjem određenih pojednostavnjenja. Nakon sinteze, napravljena je računalna simulacija leta kvadkoptera s ciljem evaluiranja i prikaza performansi regulacije izvedenog ADRC upravljačkog algoritma s proširenim observerom stanja. U simulacijama je predloženi upravljački algoritam testiran u različitim situacijama u kojima se kvadkopter može naći tijekom leta. Nadalje, za potrebe testiranja performansi regulacije na realnom sustavu, u sklopu ovoga rada izrađen je fizički model kvadkoptera koji ima implementiran Pixhawk 1 kontroler leta otvorenog koda, na kojega je moguće implementirati vlastiti programski kod i upravljački algoritam.

Abstract (english)

In this thesis, an active disturbance rejection control (ADRC) of a quadrotor, based on extended state observer (ESO), is proposed. The effectiveness and performances of the proposed control algorithm are tested on a computer simulation example of a quadrotor that is tracking a reference trajectory under the influence of unknown, time-varying and external disturbances. Furthermore, as part of this thesis, a matematical model of a quadrotor is also derived. This derived matematical model, is used for system simulation, but also in the synthesis of an ADRC controller and extended state observer. After synthesis, the computer simulation was made and used for numerical evaluation and performance representation of derived control law. Thus, the proposed control algorithm was simulated in various situations in which quadrotor can be found during the flight. For the purpose of regulation performance testing on a real system, as part of this thesis, a physical model of a quadrotor is made. This physical model has an implemented Pixhawk 1 open source flight controller, on which it is possible to implement its own program code and control algorithm.

• Keywords: kvadkopter; robusno upravljanje; kinematika i dinamika krutog tijela; aktivno upravljanje s kompenzacijom poremećaja; prošireni observer stanja
• Keywords (english): quadrotor; robust control; kinematics and dynamics of a rigid body; active disturbance rejection control; extended state observer
• Language: croatian
• URN:NBN: urn:nbn:hr:235:311901
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2020-11-25 14:27:16