Projeto e concepção de um quadcopter utilizando o controle PID

• Autor(a) principal: Gasparino, Henrique Porto [UNESP]
• Data de Publicação: 2014
• Tipo de documento: Trabalho de conclusão de curso
• Idioma: por
• Título da fonte: Repositório Institucional da UNESP
• Texto Completo: http://hdl.handle.net/11449/123032; http://www.athena.biblioteca.unesp.br/exlibris/bd/capelo/2015-05-04/000806049.pdf
• topic: Arduino (Controlador programável); Controladores PID; LabVIEW; Telemetria aeroespacial; Helicopteros; Arduino (Programmable controller)

The present work refers to the design, conception and development of a quadcopter based on PID controllers, a widespread microcontroller on the market was being implemented, the Arduino. Also made use of LabVIEW programming tool from National Instruments company for the quadcopter control and telemetry. For the control, LabVIEW software acquired the joystick commands, making the necessary adjustments to the perfect interpretation by microcontroller on the quadcopter and adjusts the parameters of PID controllers. For telemetry, data relating to quadcopter behavior are received, interpreted and presented in an intuitive user interface. In the first part of this graduate work presents the theoretical background on the subject, with a brief history about the quadcopters, followed by the main projects in the academic and commercial matters. Also are presented the theories of communications used in the design and PID control. Then an overview of the dynamic and mathematical model is demonstrated. Having done this, the physical and computer components required to complete the project are showed and the results are achieved consequently. Finally, a conclusion is made taking into account the results obtained. In this work will be presented the PID control of quadcopter translational movements only to roll and pitch movements