Publication: Assembly, modeling, simulation and control of a quadcopter for application to solar farm inspection
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Publication date
2015-09
Defense date
2015-10-16
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Abstract
Unmanned Aerial Vehicles (UAV) have been utilized for multiple purposes during the last century.
Even though their beginning was clearly militarized, they constitute a field that has evolved and
has adapted itself to the population’s current needs. Since 2005 the world is starting to experience
a thrilling growth in the use of Unmanned Aircraft Systems as the technology with the potential to
make possible new civilian applications. In an attempt of unifying the two most popular concerns
nowadays, renewable energies and unmanned vehicles, this bachelor thesis is presented. The final
goal is to assemble and configure one vehicle from scratch to allow it to be used in the future for
solar panel inspection. For that instance, the project is divided in three main parts. In the first section,
a research in the current market is carried out,taking into account the current legislation, to
find the most suitable components for the UAV. After the components are ordered and received,the
second part can be said to start. In it, the process is divided into two assembly processes. On
one hand, at the physical level, the pieces are brought together by means of soldering, wiring and
screwing. On the other hand, at the software level, the vehicle’s processor is configured with the
aid of a compatible free source software. Afterwards, in an attempt of stabilizing the platform,
its PIDs are tuned in. Regarding the third part, the vehicle is modeled by means of a physical
characterization that allows to obtain its main performance coefficients and inertial properties.
Moreover, a set of dynamic equations are proposed to comply with the real behavior, and a set of
PID parameters are proposed to be the UAV stabilizing parameters. Furthermore, the PID sets
obtained in parts 2 and 3 are compared in order to clarify which one is more suitable.
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Keywords
Unmanned Aerial Vehicles, Physical characterization, Modeling, Automatic control, Vehículos aéreos no tripulados