Modelling and construction of quadcopter

Abstract

Ovaj rad bavi se modeliranjem konstrukcije, projektiranjem pogonskog sustava te simulacijom leta letjelice s četiri rotora. Razmotreni su najvažniji aspekti za izgradnju fizičkog modela, a neki od njih su: varijacije u konfiguraciji i izgledu okvira, prilagodba dimenzija letjelice ponajviše zbog odabira i smještaja elektroničkih uređaja, korištenje optimalnog materijala za izradu, kombiniranje različitih komponenti pogonskog sustava tako da su međusobno kompatibilne. Prvotno je modeliran cjelokupni CAD model letjelice, a zatim su, pomoću 3D tehnologije, izrađeni dijelovi za sklapanje konstrukcije. U radu je prikazana problematika odabira komponenti pogonskog sustava s ciljem postizanja zadovoljavajućih rezultata u učinkovitosti i nosivosti ovisno o željenoj namjeni i performansama letjelice. Na kraju je izveden kinematički i dinamički model letjelice sa šest stupnjeva slobode gibanja. U programskom paketu MATLAB implementiran je kinematički i dinamički model letjelice. Provedene su simulacije nominalnog upravljanja za zadanu trajektoriju letjelice.Scope of this thesis is modeling of structural parts, design of the propulsion system and simulation of the quadcopter flight. The most important aspects for designing a quadcopter model are considered, as: variations in the configuration and the frame layout, adjusting of the quadcopter dimensions primarily due to selection and positioning of electronic devices, the use of optimal designing material, combining various components of the propulsion system for achieveing mutual compatibility. With the knowledge acquired during study, CAD model of the quadcopter was initially modeled, and then, using additive technology, parts were printed for completing the quadcopter assembly. In this thesis problem of selecting the propulsion system components with the aim of achieving adequate results in efficiency and load capacity depending on the desired purpose and performance of the quadcopter is presented. Finally, kinematic and dynamic models of the quadcopter with six degrees of freedom were derived. Kinematic and dynamic model of the quadcopter was implemented in the MATLAB software package. Nominal control simulations were performed for the given quadcopter trajectory