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Utveckling av reglersystem till quadrokopter
KTH, School of Information and Communication Technology (ICT).
KTH, School of Information and Communication Technology (ICT).
2014 (Swedish)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesisAlternative title
Development of Control System for Quadcopter (English)
Abstract [en]

The purpose of this project was to further develop and complete a quadcopter that had been built in an earlier course at KTH, so that it could be used for demonstration and education at the school. The quadcopter was at the beginning of the project completed when it came to hardware, and there was some software functionality implemented but no system for automatic stabilization. The main goal of the project was to implement such a system, and to combine it with the previous functionality to make the quadcopter operable and able to fly. To create a functioning and stable ground multiple basic software features has been implemented, and on top of that additional software to improve the safety, stability and functionality. The most important part is the control system that is responsible for converting sensor and control signals to suitable motor values. This report describes these technical problems and the solution methods that we have used, and analyzes the properties of the final system.

 

Abstract [sv]

Syftet med detta projekt var att vidareutveckla och färdigställa en quadrokopter som byggts i en tidigare projektkurs på KTH, för att den sedan skulle kunna användas i demonstrations- och undervisningssyften på skolan. Quadrokoptern var från början hårdvarumässigt färdigbyggd och viss funktionalitet fanns implementerad men det fanns inget system för automatisk stabilisering. Det främsta målet med projektet var att implementera ett sådant system, och att kombinera det med tidigare funktionalitet för att göra quadrokoptern manöver- och flygbar. För att skapa en fungerande och stabil grund har flera grundläggande mjukvarufinesser implementerats, och därpå ytterligare mjukvara för att förbättra säkerheten, stabiliteten och funktionaliteten. Det viktigaste har att göra med reglersystemet som ansvarar för att omvandla sensor- och styrsignaler till lämpliga motorvärden. Denna rapport beskriver dessa tekniska problem samt de lösningsmetoder och lösningar vi kommit fram till, och analyserar det slutliga systemets egenskaper.

Place, publisher, year, edition, pages
2014. , 48 p.
Series
TRITA-ICT-EX, 2014:29
Keyword [en]
Embedded Systems, Control Theory, RTOS, C, Sensors, Signal Processing
Keyword [sv]
Inbyggda System, Reglerteknik, RTOS, C, Sensorer, Signalbehandling
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-143885OAI: oai:DiVA.org:kth-143885DiVA: diva2:709394
Subject / course
Electronic- and Computer Systems
Educational program
Bachelor of Science in Engineering - Electronics and Computer Engineering
Examiners
Available from: 2014-04-01 Created: 2014-04-01 Last updated: 2015-01-09Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
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