Sistema quadrotor: uma aplicação de fusão de sensores e fundamentos de controle

• Autor(a) principal: Rockenbach, Lucas Felipe
• Data de Publicação: 2018
• Tipo de documento: Trabalho de conclusão de curso
• Idioma: por
• Título da fonte: Repositório Institucional da UTFPR (da Universidade Tecnológica Federal do Paraná (RIUT))
• Texto Completo: http://repositorio.utfpr.edu.br/jspui/handle/1/24554
• topic: Controladores PID; Drone; Algorítmos computacionais; PID controllers; Drone aircraft; Computer algorithms; CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA::MEDIDAS ELETRICAS, MAGNETICAS E ELETRONICAS INSTRUMENTACAO::SISTEMAS ELETRONICOS DE MEDIDA E DE CONTROLE

The use and study of Unmanned Aerial Vehicles (UAV) have been increased considerably in the last few years. These aircrafts have applications on defense actions and security, monitoring agriculture activities, mapping zone of difficult access, transporting materials, among others. It is show in this work the quadrotor category, describing your devices and how they are integrated to the system. Additionally, technical characteristics and code programming are investigated. In this prototype, the microcontroller performs communication with acceleration, spin and magnetic field sensors, besides, it manages information transfer with the radio receptor. Through computational algorithms, it makes the kinematics estimation, defining accurate angular position of horizontal axes. These methods’ use makes possible the implementation of PID (proportional-integrative-derivative) controller and brings as final result a quadcopter capable of self-motion by remote operation commands.