AUTONOMOUS STABILIZATION SYSTEM MODELING FOR A QUAD-ROTOR HELICOPTER
Ercan AKKAŞ
Danışman: Yrd. Doç. Dr. Rıfat EDIZKAN
Electrical and Electronics Engineering
Mühendislik-Mimarlık Fakültesi, Anadolu Üniversitesi
İki Eylül Kampusu, 26555, Eskişehir
Introduction:
The purpose of this project was the design of a fully autonomous stabilization system intended for systems capable of intelligent programming and navigation. This means that the design focuses mainly on the control feedback systems that control the four helicopter’s motors that then provide lift to compensate pitch (x axis) and roll (y axis) deviations.
Structure:
Essentially, Microcontroller Unit controlling the speed of the various motors to achieve stabilization. I achieve this by letting the MCU output a PID controlled PWM wave to the motors, which is adjusted according to movement detected by the accelerometers and gyroscope with KALMAN FILTERING.
PROJE FUARI 2009
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