Návrh laboratorního modelu pro řízení polohy UAV

Abstract

The bachelor´s thesis focuses on the design of a laboratory model for UAV attitude control. The introductory part presents the history, applications, and classification of UAVs. The chapter dedicated to the basics of quadcopter attitude control describes the fundamental motion equations, the principle of the PID controller, its synthesis, and methods for filtering sensor data. The third chapter focuses on the hardware architecture of the quadcopter, describing BLDC motors, ESCs, control units, sensors, batteries, communication systems, and propellers. The practical part deals with the design and implementation of the laboratory model for testing the control system. The selection of individual components and their wiring is described. A stand model is designed and subsequently assembled. This is followed by the description and design of the control algorithm, which is then implemented, tested, and tuned based on system response and stabilization performance.