Control of Non-tilting Multirotor-UAV Based on Moving Mass Concept

U ovom radu analiziran je i ostvaren koncept upravljanja višerotorskom bespilotnom letjelicom bez naginjanja. Koncept je utemeljen na upravljanju orijentacijom letjelice pokretnim masama. Letjelicu saˇcinjavaju ˇcetiri elektriˇcna motora s rotorima nagnuta prema centru letjelice i ˇcetiri pokretne mase, smještene na krakovima letjelice. Predstavljen je cjeloviti nelinearni matematiˇcki model letjelice iz kojeg su linearizacijom dobivene prijenosne funkcije sustava. Na osnovi modela provedena je sinteza sustava upravljanja u prostoru stanja u svrhu stabilizacije letjelice oko osi valjanja i poniranja te klasiˇcni PID regulatori za upravljanje visinom, zakretom i translacijskom brzinom letjelice. Koncept upravljanja ispitan je u Gazebo simulatoru i na letjelici u laboratorijskom postavu.In this thesis a control concept of a non-tilting multirotor unmanned aerial vehicle (UAV) is analyzed and implemented. This concept is based on moving mass control. The vehicle is comprised of four brushless electric motors with rotors tilted towards the body center and four moving masses placed on the motor arms. A full nonlinear mathematical model of the UAV is given and linearized to obtain system transfer functions. The models serve as a base for state space controler design for roll and pitch stabilization amd PID controllers for height, yaw and translational velocity control. The control concept is verified in the Gazebo simulator and experimentally on a laboratory testbed