Construindo um quadricóptero com o microcontrolador ATMEGA328-PB
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Data
2018-12-17
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Universidade Federal de Goiás
Resumo
The present work demonstrates the construction of a quadcopter (air vehicle quad motor),
from its physical construction to its implantation by software. It is a strapdown system because its
sensors are strapped to the structure, removing the need for some calibrations and increasing its
reliability by reducing moving parts. It comes from a negative feedback and through an inertial
sensor (containing 3x accelerometers, 3x gyroscopes, 3x magnetometers, in an exclusive board) the
control stabilization software was developed using a discrete PID control technique, with addition
of a mechanism for displacement. The algorithm used to solve electrical noise problem (read in
sensors) is Digital IIR 2nd order bi-quad low-pass filter, and 'Filter Madgwick-Mahony', which uses
'quaternions' to further calculate Euclidean angles: pitch, roll and yaw. Was also performed the
Fourier analysis of frequency spectrum to set up the filter cut-off frequency. The use of an
ATMEGA328-PB AVR 8-bit microcontroller has processing capability limitations and was
necessary to use some optimizations and approximations. Its CPU does not have a FPU (floatingpoint unit) to deal with floating point calculations (they are emulated by software, the compiler
AVR-GCC does it automatically). The IDE used to develop the microcontroller firmware was
“Atmel Studio 7.0”. Telemetry and control software was developed on C# (C Sharp) in “Microsoft
Visual Studio 2017”, for purposes of monitoring, measurement and simulation (filter response).
Descrição
Palavras-chave
Drone, Quadricóptero, Filtro mahony, Filtro digital IIR, Controlador PID, AVR, Quadcopter, Mahony filter, Digital IIR filter, PID controller
Citação
SILVA, Glauco Buarque da. Construindo um quadricóptero com o microcontrolador ATMEGA328-PB. 2018. 93 f. Trabalho de Conclusão de Curso (Graduação) – Escola de Engenharia Elétrica Mecânica e de Computação, Universidade Federal de Goiás, Goiânia, 2018.