Izrada funkcionalnog prototipa kvadrokoptera sa sustavom upravljanja temeljenog na mikrokontroleru Teensy 4.0

undergraduate thesis

• Title (english): Implementation of a functional prototype of a quadcopter with its control system based on the Teensy 4.0 microcontroller
• Author: Jakov Banić
• Mentor: Danijel Pavković (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2025-02-24, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering; Automation and Robotics

Abstract

Ovaj završni rad bavi se dizajnom, razvojem i implementacijom funkcionalnog prototipa kvadrokoptera temeljenog na mikrokontroleru Teensy 4.0. Cilj rada bio je demonstrirati mogućnosti ovog snažnog mikrokontrolera u upravljanju složenim zadacima potrebnim za stabilan let kvadrokoptera. U radu su opisane sve ključne komponente letjelice, uključujući mehaničku konstrukciju, pogonski sustav, senzorske sustave i upravljačku jedinicu. Razvijen je matematički model kinematike i dinamike letjelice, koji je poslužio kao osnova za simulaciju i implementaciju regulatora. Poseban naglasak stavljen je na obradu podataka senzora s pomoću Kalmanovog filtra, koji je korišten za preciznu procjenu dinamičkih varijabli letjelice, poput kuta orijentacije, visine i vertikalne brzine. Implementirani sustav testiran je simulacijama i eksperimentalno, čime su potvrđene njegove funkcionalnosti i učinkovitost u stabilizaciji leta.

Abstract (english)

This bachelor's thesis deals with the design, development, and implementation of a functional prototype of a quadcopter based on the Teensy 4.0 microcontroller. The aim of the work was to demonstrate the capabilities of this powerful microcontroller in managing complex tasks required for stable quadcopter flight. The work describes all key components of the aircraft, including the mechanical structure, the propulsion system, different sensor systems, and the quadrotor control unit. A mathematical model of the aircraft kinematics and dynamics was developed, which served as the basis for the simulation and implementation of the controller. Special emphasis was placed on the processing of sensor data using the Kalman filter, which was used to accurately estimate the dynamic variables of the aircraft, such as the orientation angle, altitud,e and vertical speed. The implemented system was tested by simulations and experimentally, confirming its functionality and effectiveness in flight stabilization.

• Keywords: kvadrokopter; Teensy 4.0; Kalmanov filtar; matematički model; upravljački
• Keywords (english): Teensy 4.0; Kalman filter; mathematical model; control system
• Language: croatian
• URN:NBN: urn:nbn:hr:235:615141
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2025-02-22 19:41:12