Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2005. / This project started a new research area in rotary-wing °ight control in the Computer and
Control group at the University of Stellenbosch. Initial attempts to build a quad-rotor
vehicle exposed di±culties which motivated changing to a standard model helicopter as
a test vehicle. A JR Voyager E electrically powered model helicopter was instrumented
with low-cost, low-weight sensors and a data communication RF link.
The total cost of the sensor, communication and microcontroller hardware used is
approximately US$ 1000 and the added onboard hardware weighs less than 0:4 kg. The
sensors used to control the helicopter include a non-di®erential u-Blox GPS receiver,
Analog Devices ADXRS150 rate gyroscopes, Analog Devices ADXL202 accelerometers, a
Polaroid ultrasonic range sensor and a Honeywell HMC2003 magnetometer.
Successful yaw, height and longitudinal position control was demonstrated. Signi¯cant
further work is proposed, based on the literature study performed and the insights and
achievements of the ¯rst rotary-wing unmanned aerial vehicle project in the group.
| Identifer | oai:union.ndltd.org:netd.ac.za/oai:union.ndltd.org:sun/oai:scholar.sun.ac.za:10019.1/1640 |
| Date | 03 1900 |
| Creators | Carstens, Nicol |
| Contributors | Milne, G. W., University of Stellenbosch. Faculty of Engineering. Dept. of Electrical and Electronic Engineering. |
| Publisher | Stellenbosch : University of Stellenbosch |
| Source Sets | South African National ETD Portal |
| Language | English |
| Detected Language | English |
| Type | Thesis |
| Rights | University of Stellenbosch |
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