Multi-rotor unmanned aerial vehicle attitude and altitude control system design in Matlab/Simulink software environment

U radu se predlaže sustav upravljanja za višerotorski tip bespilotne letjelice karakterizirane širokim rasponom manevarskih sposobnosti i mogućnošću izvođenja preciznih i kompleksnih gibanja. Dinamika letjelice opisana je nelinearnim dinamičkim modelom koji se potom prilagođava postupku sinteze regulacijskog sustava. U radu se predlaže postupak podešavanja regulatora tipa PID (proporcionalno-integrirajući-derivirajući) temeljen na Ziegler-Nicholsovim pravilima i dovođenju regulacijskog kruga s proporcionalnim (P) regulatorom na rub stabilnosti. Prethodno projektirani regulatori integrirani su zajedno s modelom bespilotne letjelice unutar programskog paketa Matlab/Simulink te je njihova funkcionalnost ispitan simulacijama na računalu i na probnom modelu bespilotne letjelice.This thesis proposes a control system for a multi-rotor type unmanned aerial vehicle characterized by a wide maneuvering range and the ability to perform precise and complex movements. The dynamics of the aircraft is described by a nonlinear dynamic model which is then simplified for the purpose of control system synthesis. The controller design procedure for the PID-type (proportional-integrating-derivative) controller is based on Ziegler-Nichols tuning rules valid for the case of closed-loop limit-cycle behavior under proportional (P) control. Previously designed controllers were integrated with the model of the unmanned aerial vehicle within the Matlab/Simulink software environment, and their functionality was tested by simulations on a computer and on a test model of the unmanned aerial vehicle