Thesis Project Design and Application of Drone

目录

致谢

1. INTRODUCTION

1.1 Generalities

1.1.1 Objective

1.1.2Resourcesand Time line

1.2History of Drones

1.2.1Early History

1.2.2Modern Drones

1.2.3Amazon Prime

1.3Existing Grabbing Devices

1.4 Regulations

1.4.1In the United States

1.4.2In Europe

2.DRONE MODEL

2.1Spinning on itself

2.2Rotor Coordination

2.3Forces and Torques Estimations

2.4Rotational Matrix

2.5Estimation of Inertia Matrix

2.5.1Inertia Matrix

2.5.2 Estimation

2.1Get Position

2.1.1 Translational

2.1.2 Angular

2.1.3 Discretization

2.2Ground Effect

2.3Gyroscope and accelerometer

2.3.1 Gyroscope

2.3.2 Accelerations

2.4Smoothing and Filtering Data

2.4.1Moving average

2.4.2RC Filter

2.4.3Kalman Filter

3.CONCEPTION SOFTWARE AND HARDWARE

3.1Estimation of the characteristics

3.1.1Estimation of the weight

3.2Choosing components

3.2.1 Rotors

3.2.2 Propeller

3.2.3 ESC

3.2.4 Battery

3.2.5 Frame

3.2.6 Connectors

3.2.7 CPU

3.2.8 IMU

3.2.9Transmitter and receiver

3.2.10 Cable

3.2.11 Summary of components used

3.3 Algorithm

3.4 Assembling

3.5Wiring and mass

3.6Grabbing device

3.6.1First idea

3.6.2Second idea

3.6.3 Conception

3.7Second Prototype: Vertical Stabilization

3.7.1 Hardware

3.7.2Partial Wiring

3.7.3 Program

3.8Final Wiring

4.1PID on flight controller

4.2PID on Levelling

4.2.1On Ground

4.2.2In the Air

5.1Rotor Testing

5.1.1Vertical Force Z

5.1.2 Torque

5.2 Vibration

5.2.1Motor 1

5.2.2Motor 2

5.2.3Motor 3

5.2.4Motor 4

5.3PID Test

5.3.1 PID tuning

5.4Ultrasonic Sensor Testing

5.5Outdoor Test

5.6Weight and autonomy

6 CONCLUSION

6.1Future Work

参考文献