Modelling and production of the control system and propellers of an unmanned aerial vehicle

Brezpilotni letalnik je naprava za izvajanje letov brez pilota ali drugih oseb na krovu, ki je daljinsko krmiljena, programirana ali avtonomna. V magistrski nalogi smo izpeljali matematični model brezpilotnega letalnika, naredili analizo glavnih senzorskih sistemov letalnika (giroskop in pospeškometer) in filtrov, ki smo jih uporabili za manjšanje šuma (nizkoprepustni filter in Kalmanov filter), nato smo naredili model Matlab/Simulink celotnega dinamičnega sistema in ustrezno izdelali ter uglasili regulacijo upravljanja in letenja s pomočjo regulatorjev PID. V drugem delu naloge smo izvedli analizo propelerjev brezpilotnega letalnika z uporabo metode BEM (Blade Element Momentum Theory), nato smo s pomočjo Adkinsonove metode ustvarili dizajn 5-palčnega propelerja, ki smo ga nato fizično izdelali in eksperimentalno preizkusili. Rezultati so pokazali, da je metoda BEM predvidela večji potisk, kot smo ga dosegli v fizični izvedbi. V zadnjem delu naloge smo sestavili brezpilotni letalnik, s pomočjo mikroprocesorja Arduino sprogramirali regulacijo sistema, uspešno izvedli testni let in pokazali, da uporabljeni matematični model uspešno opiše obnašanje brezpilotnega letalnika.An unmanned aerial vehicle (UAV) is a device for operating flights without a pilot or other persons on board that is remotely controlled, programmed or autonomous. In this master\u27s thesis we derived a mathematical model of the drone, made an analysis of the main sensor systems of the aircraft (gyroscope and accelerometer) and filters used to reduce noise (low-pass filter and Kalman filter), then made a Matlab / Simulink model of the entire dynamic system and properly designed and tuned the control and flight system using PID controllers. In the second part of the thesis, we performed an analysis of drone propellers using the BEM (Blade Element Momentum Theory) method, then used the Adkins method to create a 5-inch propeller design, which was then physically fabricated and tested experimentally. The results showed that the BEM method overpredicted thrust in comparison with the experimental results. In the last part of the thesis, we assembled an unmanned aerial vehicle, programmed the control of the system using an Arduino microprocessor, successfully performed a test flight and showed that the derived mathematical model successfully models the behaviour of an UAV