Autonomous flight of an unmanned helicopter

Rossouw, Louis-Emile (2008-03)

Thesis (MScIng) -- University of Stellenbosch, 2008.

Thesis

ENGLISH ABSTRACT: The successful development of an autopilot for an unmanned helicopter is presented. The helicopter model is developed from first principles. The model is decoupled to enable the design of four separate controllers. Modal Analysis is done on the helicopter's natural modes of motion. The controllers are designed using a classical successive-loop-closure approach. The ground station software developed is presented. A guidance controller is developed to enable autonomous waypoint navigation. The practical results obtained during Autonomous flight are shown.

AFRIKAANSE OPSOMMING: Die suksesvolle ontwerp van 'n vliegstuuroutomaat vir 'n miniatuur helikopter word voorgedra. Die helikopter model word ontwikkel uit eerste beginsels. Die model word ontkoppel om die ontwerp van vier afsonderlike beheerstelsels toe te laat. Modale Analise word toegepas op die helikopter se natuurlike modusse van beweging. Die beheerstelsels word ontwerp deur van klassieke agtereenvolgende-lus-sluiting gebruik te maak. Die grondstasie sagteware word voorgedra. 'n Stuurstelsel word ontwikkel sodat outonome roete analise gedoen kan word. Die praktiese resultate wat verkry is gedurende Outonome vlug word voorgedra.

Please refer to this item in SUNScholar by using the following persistent URL: http://hdl.handle.net/10019.1/50766
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