Utveckling av reglersystem till quadrokopter
Embedded SystemsControl TheoryRTOSCSensorsSignal ProcessingInbyggda SystemReglerteknikRTOSCSensorerSignalbehandling
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.