Conception Et Contrôle D'un Quadrotor

Abstract

In recent years, Unmanned Aerial Vehicles (UAVs) have attracted considerable interest and found numerous applications in various fields, including civil defence, commercial delivery, recreation, and agriculture. The present study aims to provide a comprehensive exploration of systematic quadrotor development, substantiated by an extensive experimental investigation. The research commences by conducting a detailed analysis of the methodological aspects involved in quadrotor development. It elucidates our engineering approach, which prioritizes robust design principles and lays the foundation for an open-source quadrotor research platform. Subsequently, this thesis reviews quadrotor sizing techniques, highlighting the substantial influence of size on the selection of optimal components. A data-driven clustering technique is exhaustively discussed and implemented in the quadrotor components selection process. In addition, this work addresses aspects of sensor calibration and filtering. It encompasses the calibration procedures for the Inertial Measurement Unit (IMU) and Compass sensor, along with the implementation of sensor signals filtering techniques, with a specific emphasis on the complementary filter technique. Furthermore, the study delves into vibration analysis, utilizing Fast Fourier Transform (FFT) techniques to achieve motor-propeller balancing and noise reduction. Quadrotor dynamics identification is meticulously investigated through white, grey and black-box approaches, leading to a comprehensive understanding of the system dynamics. Finally, the thesis explores control design by leveraging the identified model to design an efficient controller. Overall, this research provides insights into the design and control of quadrotor systems, offering a comprehensive methodology with the aim to be a valuable resource for future research and development endeavours in this rapidly evolving field.