prikaz prve stranice dokumenta Upravljanje višerotorskom letjelicom korištenjem pokretnih masa bez naginjanja
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master's thesis
Upravljanje višerotorskom letjelicom korištenjem pokretnih masa bez naginjanja
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. urn:nbn:hr:168:490831
Bedeković, Matija
University of Zagreb
Faculty of Electrical Engineering and Computing

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Bedeković, M. (2017). Upravljanje višerotorskom letjelicom korištenjem pokretnih masa bez naginjanja (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:490831

Bedeković, Matija. "Upravljanje višerotorskom letjelicom korištenjem pokretnih masa bez naginjanja." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. https://urn.nsk.hr/urn:nbn:hr:168:490831

Bedeković, Matija. "Upravljanje višerotorskom letjelicom korištenjem pokretnih masa bez naginjanja." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. https://urn.nsk.hr/urn:nbn:hr:168:490831

Bedeković, M. (2017). 'Upravljanje višerotorskom letjelicom korištenjem pokretnih masa bez naginjanja', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 26 December 2024, https://urn.nsk.hr/urn:nbn:hr:168:490831

Bedeković M. Upravljanje višerotorskom letjelicom korištenjem pokretnih masa bez naginjanja [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2017 [cited 2024 December 26] Available at: https://urn.nsk.hr/urn:nbn:hr:168:490831

M. Bedeković, "Upravljanje višerotorskom letjelicom korištenjem pokretnih masa bez naginjanja", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2017. Available at: https://urn.nsk.hr/urn:nbn:hr:168:490831

Metadata
TitleUpravljanje višerotorskom letjelicom korištenjem pokretnih masa bez naginjanja
Title (english)Control of Non-tilting Multirotor-UAV Based on Moving Mass Concept
AuthorMatija Bedeković
MentorStjepan Bogdan (mentor)
Committee memberStjepan Bogdan (predsjednik povjerenstva)
Committee memberZdenko Kovačić (član povjerenstva)
Committee memberMatko Orsag (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2017-07-21, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U ovom radu analiziran je i ostvaren koncept upravljanja višerotorskom bespilotnom letjelicom bez naginjanja. Koncept je utemeljen na upravljanju orijentacijom letjelice pokretnim masama. Letjelicu saˇcinjavaju ˇcetiri elektriˇcna motora s rotorima nagnuta prema centru letjelice i ˇcetiri pokretne mase, smještene na krakovima letjelice. Predstavljen je cjeloviti nelinearni matematiˇcki model letjelice iz kojeg su linearizacijom dobivene prijenosne funkcije sustava. Na osnovi modela provedena je sinteza sustava upravljanja u prostoru stanja u svrhu stabilizacije letjelice oko osi valjanja i poniranja te klasiˇcni PID regulatori za upravljanje visinom, zakretom i translacijskom brzinom letjelice. Koncept upravljanja ispitan je u Gazebo simulatoru i na letjelici u laboratorijskom postavu.
Abstract (english)
In this thesis a control concept of a non-tilting multirotor unmanned aerial vehicle (UAV) is analyzed and implemented. This concept is based on moving mass control. The vehicle is comprised of four brushless electric motors with rotors tilted towards the body center and four moving masses placed on the motor arms. A full nonlinear mathematical model of the UAV is given and linearized to obtain system transfer functions. The models serve as a base for state space controler design for roll and pitch stabilization amd PID controllers for height, yaw and translational velocity control. The control concept is verified in the Gazebo simulator and experimentally on a laboratory testbed.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:490831
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2019-03-13 18:56:45