طراحي كنترل فرود خودكار و ساخت سيستم پايدارساز وضعيت كوادرتور

چكيده انگليسي :

217 Design of Quadrotor Auto Landing Control and Construction Quadrotor Attitude Control System Amir Hossein Jalalaei Dastjerdi a jalalaei@ec iut ac ir Date of Submission 2016 05 28 Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan Iran 84156 83111Degree Master of Science Language PersianSupervisors Dr Mohammad Danesh danesh@cc iut ac irAbstract Concerning the rapid growth in using autonomous aerial vehicles in variety of tasks needs for ability ofautonomously takeoff of these vehicles are added to the first priorities Quadrotors are including in unmannedaerial vehicles general purpose vertical takeoff landing vehicles VTOL group that because of their highmaneuverability outdoor flying ability and indoor obstacles and low space flying ability are in the center ofattentions Control of position and orientation of VTOL vehicles with low amount of actuators like quadrotorcan be one of the main challenging issues in this field One of the critical tasks for these kinds of vehicles thatattract researchers attentions is safely landing of vehicles on a designated place In this thesis firstly weconsider extracting of dynamic relation and modeling of quadrotor then in order to stabilize quadrotor and thepossibility of hot pursuit custom path an appropriate controller is designed Control algorithm used forquadrotor is in form of a double loop structure In the design of the external loop in order to control thetransition dynamics of quadrotor PD controller is used and in design of the internal loop in order to controlrotation dynamics of quadrotor PD and super twisting second order sliding mode controller is used Controllers used in design of the inner loop is individually used on the system dynamics simulation modeland results of the performance are about to be compared In order to evaluate the performance of the twoautomatic quadrotor flight control systems based on PD PD and PD SMC different motion paths aredesigned In addition to this in order to check the amount of robust disclosure of any of the controlalgorithms chase of the designed paths once in presence of external turbulence and once without presence ofexternal turbulence done and from results the behavior of the quadrotor can be examined After reviewing thedesigned automatic flight control systems an intelligent algorithm for automatic landing of quadrotor isoffered In implementation of the provided landing algorithm an automatic flight control system based onPD SMC is used and the presented system algorithm is evaluated in presence of wind as an externalturbulence In order to implement control algorithms and use them on real quadrotor model in operationalcondition with study of autopilot systems available on the market hardware of quadrotors condition controlsystem is designed In this system in order to stabilize quadrotor and control rotational movements ofquadrotor a PD controller is used Finally in order to evaluate the performance of the system several testshave been done and the authenticity of the performance of the control algorithms implementation is evaluatedin terms of practical assessment Keywords Quadrotor Flight Control system Robust Control Sliding Mode Autolanding Autopilot Path Planning

جلالائي دستجردي، اميرحسين

طراحي كنترل فرود خودكار و ساخت سيستم پايدارساز وضعيت كوادرتور

كنترل كننده مقاوم , سيستم خلبان خودكار , مد لغزشي , طراحي مسير