Design and control of a quadrocopter

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Dr. Blázovics László
Department of Automation and Applied Informatics

In my BSc. thesis, I have worked on a quadrocopter project. Due to the advancement of

electronics and informatics, these 4-wing helicopters are becoming more and more popular.

It is not only used in the industry, but it is also in the reach of the average people. The aim of

this project in this semester is to create a quadrocopter, which can hover autonomously without

drifting. Furthermore, another aim is to create the base of the position control system, which can

be used to navigate the quadrocopter by itself to another position, which is currently hardcode

into its source code. The project is made by several students including me. My part was to make

the control electronic, the implementation of the software-architecture, and the tuning of the

controller module. First of all I explain the principle of the quadrocopter from the side of

physics. After that, I introduce the elements of the electronic chosen by me, the steps of

planning the schematic and the printed circuit board. Right after the production of the PCB and

the frame of the quadrocopter, the next stage is the implementation of the software-architecture.

I introduce the working of the software through a block diagram. After finishing the software, I

describe the control theory that we need in this project, and explain the process of tuning the

controller. The finished quadrocopter can be seen in a picture, and the behavior of the controller

in time diagram. Finally I make a conclusion of our successes in the project, and I give some

possibilities of future development.


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