This master’s thesis project from the Department of Mathematics at KTH, Royal Institute of Technology, Stockholm, Sweden was carried out at Saab Dynamics, Linköping, Sweden. In this thesis, an octocopter was studied, which is a multirotor vehicle, a rotorcraft with more than two rotors. Multirotors have recently become very popular and have various interesting applications needing further research. Since the market for powerful credit-card-sized computers is continuously increasing, the development and research of multirotors is simplified. The main purpose of this thesis project was to develop a complete open-sourced octocopter including control laws which should be used in future thesis projects at Saab Dynamics. Since the authors field is within Applied Mathematics, this thesis report has focused on the theoretical and analytical part of the project rather than the development process. Nevertheless, the report includes and gives a detailed overview of the complete octocopter and its final configuration. In addition, the report features system identifications which were carried out in order to estimate important properties of the vehicle. In order to carry out mathematical analyses and propose control laws, a mathematical model of the vehicle was required. Since the vehicle moves in 6DoF (six-degrees of freedom), a suitable coordinate system handling these freedoms was needed. In this thesis, Euler angles and quaternions were used for representing attitude. The complete nonlinear model was derived using Newton’s second law of motion in a rotating reference frame. Additional effects such as aerodynamics, precession torques and motor dynamics were analyzed and modeled. The main content of this report which can be divided into two part deals with the control of the octocopter. The first part investigates approaches for converting of the model control inputs, forces and torques, to corresponding motor commands, angular-rates. This issue is seldom covered in research articles proposing control laws for multirotors ...
Design, Modeling and Control of an Octocopter ; Utveckling, modellering och reglering av en oktokopter
2015-01-01
Theses
Electronic Resource
English
DDC: | 629 |
Alternative Strategies for Engine Control ; Alternativa reglerstrategier för motor-reglering
BASE | 2015
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