The topic of this master thesis is the working theory, simulation and controlling one of the fast developing and very popular multirotors which technology grows dinamically.
Int he first section the gathered information and own thoughts are told about the multirotor working theory, the efficiency the technological questions and the practial limitations. These aircraft machines have a great innovation factor, their spectrum of scope is really wide, some of the applications are mentioned to get an insight of their development. However a multirotor semms to be quite similar to a helicopter, there are differences which make the two contruction basically different hence their advantages and disadvantages are shown with examples.
Int he next section the derivation of the quadcopter’s mathematical model is explained to give a tool for the developments in computational environments. The calculation of the physical parameters of the quadcopter is also the part of the model.
The third section discusses the simulations of the controlling system of the two quadcopters which are under development by the department. The hardware and software instruments which are defined as needed to create a stable control system are shown together with the simulations development.
In the fourth section the implementation of the designed controllers, the testing processes and the required changes in the controllers are explained together with the first flights and tryouts.
The thesis ends with the experience of the first successful flights, the planned modifications and further developments and directions.