Projektiranje regulacijskog sustava orijentacije i pozicije višerotorske bespilotne letjelice u Matlab/Simulink programskom okruženju

undergraduate thesis

• Title (english): Multi-rotor unmanned aerial vehicle attitude and altitude control system design in Matlab/Simulink software environment
• Author: Marta Prevarić
• Mentor: Danijel Pavković (mentor)
• Mentor: Matija Krznar (komentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2022-03, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Aviation, Rocket and Space Technology

Abstract

U radu se predlaže sustav upravljanja za višerotorski tip bespilotne letjelice karakterizirane širokim rasponom manevarskih sposobnosti i mogućnošću izvođenja preciznih i kompleksnih gibanja. Dinamika letjelice opisana je nelinearnim dinamičkim modelom koji se potom prilagođava postupku sinteze regulacijskog sustava. U radu se predlaže postupak podešavanja regulatora tipa PID (proporcionalno-integrirajući-derivirajući) temeljen na Ziegler-Nicholsovim pravilima i dovođenju regulacijskog kruga s proporcionalnim (P) regulatorom na rub stabilnosti. Prethodno projektirani regulatori integrirani su zajedno s modelom bespilotne letjelice unutar programskog paketa Matlab/Simulink te je njihova funkcionalnost ispitan simulacijama na računalu i na probnom modelu bespilotne letjelice.

Abstract (english)

This thesis proposes a control system for a multi-rotor type unmanned aerial vehicle characterized by a wide maneuvering range and the ability to perform precise and complex movements. The dynamics of the aircraft is described by a nonlinear dynamic model which is then simplified for the purpose of control system synthesis. The controller design procedure for the PID-type (proportional-integrating-derivative) controller is based on Ziegler-Nichols tuning rules valid for the case of closed-loop limit-cycle behavior under proportional (P) control. Previously designed controllers were integrated with the model of the unmanned aerial vehicle within the Matlab/Simulink software environment, and their functionality was tested by simulations on a computer and on a test model of the unmanned aerial vehicle.

• Keywords: bespilotna letjelica; kvadrotor; PID regulator; Ziegler-Nicholsova metoda; simulacija; eksperiment
• Keywords (english): unmanned aerial vehicle; quadrotor; PID controller; Ziegler-Nichols method; simulation; experiment
• Language: croatian
• URN:NBN: urn:nbn:hr:235:364982
• Study programme: Title: Aeronautical Studies; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka zrakoplovnog inženjerstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka zrakoplovnog inženjerstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2022-02-23 19:46:27