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  • About
  • The Global ETD Search service is a free service for researchers to find electronic theses and dissertations. This service is provided by the Networked Digital Library of Theses and Dissertations.
    Our metadata is collected from universities around the world. If you manage a university/consortium/country archive and want to be added, details can be found on the NDLTD website.
1

Modeling, Control and Design of a Quadrotor Platform for Indoor Environments

January 2018 (has links)
abstract: Unmanned aerial vehicles (UAVs) are widely used in many applications because of their small size, great mobility and hover performance. This has been a consequence of the fast development of electronics, cheap lightweight flight controllers for accurate positioning and cameras. This thesis describes modeling, control and design of an oblique-cross-quadcopter platform for indoor-environments. One contribution of the work was the design of a new printed-circuit-board (PCB) flight controller (called MARK3). Key features/capabilities are as follows: (1) a Teensy 3.2 microcontroller with 168MHz overclock –used for communications, full-state estimation and inner-outer loop hierarchical rate-angle-speed-position control, (2) an on-board MEMS inertial-measurement-unit (IMU) which includes an LSM303D (3DOF-accelerometer and magnetometer), an L3GD20 (3DOF-gyroscope) and a BMP180 (barometer) for attitude estimation (barometer/magnetometer not used), (3) 6 pulse-width-modulator (PWM) output pins supports up to 6 rotors (4) 8 PWM input pins support up to 8-channel 2.4 GHz transmitter/receiver for manual control, (5) 2 5V servo extension outputs for other requirements (e.g. gimbals), (6) 2 universal-asynchronous-receiver-transmitter (UART) serial ports - used by flight controller to process data from Xbee; can be used for accepting outer-loop position commands from NVIDIA TX2 (future work), (7) 1 I2C-serial-protocol two-wire port for additional modules (used to read data from IMU at 400 Hz), (8) a 20-pin port for Xbee telemetry module connection; permits Xbee transceiver on desktop PC to send position/attitude commands to Xbee transceiver on quadcopter. The quadcopter platform consists of the new MARK3 PCB Flight Controller, an ATG-250 carbon-fiber frame (250 mm), a DJI Snail propulsion-system (brushless-three-phase-motor, electronic-speed-controller (ESC) and propeller), an HTC VIVE Tracker and RadioLink R9DS 9-Channel 2.4GHz Receiver. This platform is completely compatible with the HTC VIVE Tracking System (HVTS) which has 7ms latency, submillimeter accuracy and a much lower price compared to other millimeter-level tracking systems. The thesis describes nonlinear and linear modeling of the quadcopter’s 6DOF rigid-body dynamics and brushless-motor-actuator dynamics. These are used for hierarchical-classical-control-law development near hover. The HVTS was used to demonstrate precision hover-control and path-following. Simulation and measured flight-data are shown to be similar. This work provides a foundation for future precision multi-quadcopter formation-flight-control. / Dissertation/Thesis / Masters Thesis Electrical Engineering 2018

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