A Quadrotor Sensor Platform

 
 
 
 

A Quadrotor Sensor Platform

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dc.contributor.advisor Van Graas, Frank en_US
dc.contributor.author Stepaniak, Michael J. en_US
dc.date.accessioned 2009-04-10T09:56:16Z
dc.date.available 2009-04-10T09:56:16Z
dc.date.created 2008 en_US
dc.date.issued 2009-04-10T09:56:16Z
dc.identifier.uri http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1228335025 en_US
dc.identifier.uri http://hdl.handle.net/2374.OX/108413
dc.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. en_US
dc.format application/pdf en_US
dc.format 124p. en_US
dc.rights unrestricted en_US
dc.rights Copyright and permissions information available at the source archive en_US
dc.subject quadrotor en_US
dc.subject four rotor en_US
dc.title A Quadrotor Sensor Platform en_US
dc.type Electronic Thesis or Dissertation en_US
dc.degree.name PhD en_US
dc.degree.level doctoral en_US
dc.degree.discipline Electrical Engineering (Engineering and Technology) en_US
dc.degree.grantor Ohio University en_US
dc.contributor.publisher Ohio University / OhioLINK en_US

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