Specification, design and implementation of a flight control unit for an unmanned aerial vehicle

Berhens, Hartmut (2015-12)

Thesis (MEng)--Stellenbosch University, 2015.

Thesis

ENGLISH ABSTRACT: The specification, design and implementation of an avionics system including a flight control unit for an unmanned aerial vehicle that is suitable for research purposes is presented. The project aims to address a number of limitations of previous systems that were developed at the Electronic Systems Laboratory of Stellenbosch University. An architecture is developed that is based on documented research and open industry standards. The architecture enables distributed, real-time and embedded flight control applications to be developed. The platform is extendible with minimal effort. Provision is made to support sensor and actuator hardware that has been developed in the past. The results of a flight controller that was previously developed at the Electronic Systems Laboratory and was ported to the new architecture are provided. The newly ported flight controller is proven to work correctly using hardware-in-the-loop simulations. Comparative tests indicate that the performance is on-par with existing Electronic Systems Laboratory systems.

AFRIKAANSE OPSOMMING: Die spesifikasie, ontwerp en implementering van avionika, insluitende ’n vlugbeheerstelsel vir ’n onbemande vliegtuig wat geskik is vir navorsing doeleindes, word aangebied. Die projek spreek ’n aantal beperkinge aan van vorige stelsels wat by die Elektroniese Stelses Laboratorium van die Universiteit van Stellenbosch ontwikkel is. ’n Argitektuur is ontwikkel wat gebaseer is op vorige navorsing en oop industrie standaarde. Die argitektuur maak dit moontlik om ’n verspreide, geïntegreerde en intydse vlugbeheerstelsel te ontwikkel. Die platform kan met minimale inspanning opgegradeer word. Voorsiening is ook gemaak om bestaande sensors en aktueerders te ondersteun. Die resultate van ’n bestaande vlugbeheerstelsel wat oorgedra is na die nuwe argitektuur word beskryf. Dit word gewys dat die nuwe stelsel korrek werk met behulp van hardeware-in-die-lus simulasies. Vergelykende toetse dui daarop dat die prestasie op gelyke voet is met bestaande stelsels van die Elektroniese Stelses Laboratorium.

Please refer to this item in SUNScholar by using the following persistent URL: http://hdl.handle.net/10019.1/98031
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