20.500.12556/DKUM-16296 KRMILJENJE HELIKOPTERJA S ŠTIRIMI POGONSKIMI OSMI S POMOČJO ODPRTOKODNE PLATFORME ARDUINO CONTROL OF QUADCOPTER USING AN OPEN SOURCE ARDUINO PLATFORM V diplomskem delu je opisan razvoj helikopterja s štirimi pogonskimi osmi in programska zasnova kontrolnega dela, ki služi za upravljanje plovila. Prototip plovila zajema strojne komponente pogonskega sklopa, konstrukcijo plovila in elektronske komponente kontrolnega dela, kamor sodijo senzorji in vhodno/izhodna plošča Arduino Mega. Razviti moduli in sistem za upravljanje plovila so implementirani v programskem jeziku Wiring z uporabo razvojnega okolja Arduino. Sistem vodenja plovila je nadgrajen s krmilnikom PID, ki skrbi za stabilizacijo plovila okoli prostorskih osi, in sistemom za samodejno izravnavo, kjer informacijo o naklonu plovila ocenjujemo z uporabo Kalmanovega fifiltra. This thesis addresses the development of a quad-rotor helicopter and desing and implementation of its control system software used to operate the aircraft. Prototype includes powertrain hardware components, aircraft frame and electronic components of the control system, which includes sensors and Arduino Mega I/O board. Developed software modules and aircraft control system are implemented in a Wiring programming language and native Arduino IDE. Aircraft control system is upgraded with five diferent PID controllers that provide stabilization arround the three spatial axes and auto-leveling system, where aircraft attitude is estimated with the help of Kalman fifilter. Arduino helikopter ledbdeča plovila krmilnik PID senzorji mikrokrmilniki Arduino helicopter floating vehicles PID controller sensors microcontrolers true true false [L. Hartman] Slovenski jezik Angleški jezik Diplomsko delo/naloga 2010-10-09 22:37:38 2010-12-14 09:03:48 2022-04-13 08:02:49 2023-12-20 03:27:01 2010 0 Maribor 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 004.4:62-5(043.2) 14664214 URN:SI:UM:DK:EFP4FQH1 UNI_Hartman_Lovro_2010.pdf UNI_Hartman_Lovro_2010.pdf 1 6499D7D050F1FD4404A51FA4A7A190FD 3bc6f13a6f4d211e840777555b37363741674b05b635077900161b5b80287fcd 9d6dae23-7c04-11eb-bb7a-00155d0001ca 20.500.12556/dkum/82145fc3-b441-4bde-81c6-a21e5ffacde4 https://dk.um.si/Dokument.php?lang=slv&id=18404 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0