Dissertação
Projeto conceitual e sistema de controle de VANT penta-rotor para aplicações agrícolas
Fecha
2020-02-13Autor
Rosa, Lucas Wilke Dalla
Institución
Resumen
This work deals with the design of an penta-rotor Unmanned Aerial Vehicle (UAV), covering
the conceptual phase, control project and simulations that allows validating the operation
of the complete system. Such a vehicle is intended for use in agricultural applications,
spraying crops or similar applications. For this, a penta rotor type vehicle with coaxial central
engine and combustion propulsion is proposed. The work covers the conceptual design
in CAD, based on research on propulsion, payload required and products available in the
market. With the CAD defined, the mathematical modeling of the aircraft is carried out,
taking into account its mass, inertia and center of gravity variation, which are of fundamental
importance in this work. After the modeling is finished, it is started the design of the
optimal control system with reference tracking, where the reference is generated by a guiding
algorithm. The design of the UAV discrete control system is also done in this work,
being implemented in an embedded microcontroller for Hardware In The Loop testing. The
software used in the design of the controllers is MATLAB/Simulink and the microcontroller
is the Arduino Uno.