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A Quadrotor Sensor Platform
| Title: | A Quadrotor Sensor Platform |
| Author: | Stepaniak, Michael J. |
| Description: | A quadrotor sensor platform capable of lifting a ten pound payload is presented. Platform stabilization is accomplished using classical control methodology and is implemented on a field programmable gate array. The flight control system relies on attitude information derived using a technique that circumvents the electromagnetic susceptibility of the inertial unit while minimizing the propagation of errors. This dissertation develops models for the high-power brushless motors. In particular, the rotational losses as a function of motor speed and the operational characteristics of the electronic speed controller are considered. Furthermore, losses within the batteries are found to dominate the power budget at planned operating speeds. Based on the models, a graphical method of predicting sortie duration is presented. An incremental build-up approach is applied, leading to a successful flight test program. This platform represents a threefold increase in payload capacity for quadrotor platforms and is the largest unmanned quadrotor to successfully fly without tethers. |
| Permanent Link: |
http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1228335025
http://hdl.handle.net/2374.OX/108413 |
| Date: | 2008 |
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