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Modeling, design and experimental study for a quadcopter system construction

Magnussen, Øyvind; Skjønhaug, Kjell Eivind
Master thesis
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uiareport.pdf (35.14Mb)
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http://hdl.handle.net/11250/136686
Utgivelsesdato
2011
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  • Master's theses in Mechatronics [90]
Sammendrag
The popularity of quadcopters are increasing as the sensors and control systems are getting more advanced.

The quadcopter is naturally unstable, has a complex dynamic model and six degrees of freedom. Even with

four motors it is underactuated, and cannot move translative without rotating about one of its axes. There

are many commercially quadcopters for sale, but was not considered as it would result in a backwards design

process where the design is decided before the needs. To meet the university’s lab facilities a quadcopter

was designed to fit a single board RIO from National Instruments. This is the preferred platform used by

the university and it has high performance characteristics. The quadcopter requires an extensive control

system in order to fly. With many parameters it is difficult to implement and tune a regulator for such

a system. In addition to an even more complex regulator many sensors are needed in order to make the

quadcopter autonomous. For the attitude estimation sensor fusion is required to get a robust and reliable

measurement. Based on the dynamic model the sensors needed was chosen. They were tested one by one

before implementation in a control system. A tilt regulator was able to stabilize the quadcopter around

one axis in a test rig. Building a quadcopter for an educational purpose, and to discover and resolve its

complexity is an experimental project, as this has never been done at this university. The final quadcopter

concept is well suited for further experimental work.
Beskrivelse
Masteroppgave i mekatronikk MAS500 2011 – Universitetet i Agder, Grimstad
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Universitetet i Agder / University of Agder

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