Publicación: Sistema de Control de Cabeceo, Alabeo, y Guiñada para el Vuelo de un Vehículo Aéreo no Tripulado Tipo Quadrotor
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Universidad EIA
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2010
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Descripción general
En este trabajo se presenta el diseño e implementación de un sistema de control de vuelo para un vehículo aéreo no tripulado tipo quadrotor: helicóptero de cuatro rotores, con hélices de ángulo de ataque fijo.
Para ello se estudiaron todas las variables involucradas en el vuelo de este tipo de vehículos, lo cual permitió diseñar e implementar el sistema sensorial y el sistema de propulsión a bordo.
Con base en un modelo matemático lineal, obtenido experimentalmente, se diseñaron controladores discretos, los cuales son programados en un microcontrolador que hace parte del hardware a bordo. Igualmente se desarrollaron un sistema de comunicación inalámbrico y una interfaz gráfica del usuario, para lograr el pilotaje y monitoreo remoto del vehículo.
Se exponen los resultados obtenidos, las dificultades encontradas y las soluciones sugeridas en cada una de las etapas.
Adicionalmente, el trabajo tiene por objeto ofrecer una plataforma aérea no tripulada para continuar con el proceso de construir un quadrotor totalmente autónomo
Abstract: This document shows the process of design and implementation of a flight control system for a quadrotor helicopter, in order to obtain an unmanned aerial vehicle. The main variables involved in the flight of a quadrotor are studied, and based on this, an onboard sensory system and a propulsion system is designed and implemented. Based on a linear mathematical model obtained experimentally, some discrete controllers are designed and implemented on an onboard microcontroller. This project also includes the development of a wireless communication system and a graphic user interface which allows the control and monitoring of the vehicle in a remote way. The results obtained, the difficulties found, and the solutions suggested in every phase are shown. It also has as objective, to provide a complete unmanned aerial platform for future work, in order to continue the process of construction of a totally autonomous quadrotor.
Abstract: This document shows the process of design and implementation of a flight control system for a quadrotor helicopter, in order to obtain an unmanned aerial vehicle. The main variables involved in the flight of a quadrotor are studied, and based on this, an onboard sensory system and a propulsion system is designed and implemented. Based on a linear mathematical model obtained experimentally, some discrete controllers are designed and implemented on an onboard microcontroller. This project also includes the development of a wireless communication system and a graphic user interface which allows the control and monitoring of the vehicle in a remote way. The results obtained, the difficulties found, and the solutions suggested in every phase are shown. It also has as objective, to provide a complete unmanned aerial platform for future work, in order to continue the process of construction of a totally autonomous quadrotor.