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The whole title of my thesis was "Design of the horizontal flight stabilization algorithm as a part of an UAV autopilot"
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ContentsM!"#v$"#!%A&'!r#"() & R*+,&"+C!%-&,+#!%
M!"#v$"#!%
MotivationM!"#v$"#!%
Official reasons:
... contribute ... area ... algorithms ... understand ...
... cooperation ... different faculties ...
CTU ...
M!"#v$"#!%
Tr,* r*$+!%+♥
A,"!.#&!"
1st Plan
2nd Plan
... and consult
Theory of Flight Algorithm analysis
Implementation Overhead
Co
nclu
sion
structure of the thesis
Flight control
Sensordata
acquisitionHorizontal
controlVertical control
Control Surfaces Sensors
Human input
Flight managementWaypoints navigation
Flight path optimization
Fail-safelogic
Control signal
Model
Feedback signal
Measured state
e1(t)
φi(t)
φc(t)ψc(t)
ψi(t)
ρ(t) e2(t)Control signal
+-
+-
Kp · e2(t)
Kp · e1(t)
Ki ·� t
0e1(τ)dτ
Kd ·d
dte1(t)
Feedback signal
Measured state
Heading control
Roll control
Flight
PID
P
PID + P controller...
Control signal
Model
Feedback signal
Measured state
e1(t)
φi(t)
φc(t)ψc(t)
ψi(t)
ρ(t) e2(t)Control signal
+-
+-
Kp · e2(t)
Kp · e1(t)
Ki ·� t
0e1(τ)dτ
Kd ·d
dte1(t)
Feedback signal
Measured state
PID controller...
... !"#$%"%&'%( !& )
...Used with ARM HW
Results
In silico testing
It flies!
(of) Course
Simulated delays
(by-product)
(by-product)
HTML5 + AJAX
Conclusion
Present
Future
