Assembly, modeling, simulation and control of a quadcopter for application to solar farm inspection

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dc.contributor.advisor Soler Arnedo, Manuel
dc.contributor.advisor Morante González, David Arteta Fernández, Maite 2016-09-19T18:25:40Z 2016-09-19T18:25:40Z 2015-09 2015-10-16
dc.description.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.
dc.format.mimetype application/pdf
dc.language.iso eng
dc.rights Atribución-NoComercial-SinDerivadas 3.0 España
dc.subject.other Unmanned Aerial Vehicles
dc.subject.other Physical characterization
dc.subject.other Modeling
dc.subject.other Automatic control
dc.subject.other Vehículos aéreos no tripulados
dc.title Assembly, modeling, simulation and control of a quadcopter for application to solar farm inspection
dc.type bachelorThesis
dc.subject.eciencia Aeronáutica
dc.rights.accessRights openAccess Ingeniería Aeroespacial
dc.contributor.departamento Universidad Carlos III de Madrid. Departamento de Bioingeniería e Ingeniería Aeroespacial
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