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Appendix

This repo is the digital appendix of the thesis Flight control system for hovering a 'Ducted-Fan' prototype.

CAD

The CAD folder contains the master fusion 360 file with all mechanical components. Invoice Module

Flight computer

The FlightComputer folder contains the flight computer c++ code.

Ground station

The GroundStation folder contains all C# classes written for the Ground station app

Invoice Module

Simulink

The Simulink folder contains the Matlab and Simulink files.

Video

External links to the videos

Short video overview of the project

1min Trailer

Flight data

The Flight data folder contains the flight data in a CSV format. Invoice Module

Project Overview

This thesis aims to develop a flying object powered by a ducted fan capable of hovering by itself. In order to hover, the following parameters must be controlled: pitch, roll, yaw, and altitude. The thesis describes the steps of developing a ducted fan prototype from the initial idea to the hovering prototype. In addition, all related sources used in this thesis are summarised and referenced in the bibliography. The flight performance of the prototype is evaluated using the onboard logged sensor values. These log files contain all sensor values (including speed estimations), control system outputs and processor time. In addition to the logfiles, high speed (120fps) 4k video footage is recorded for visual analysis of the flight. The resulting prototype can hover upright. However, a horizontal drift is still noticeable. It is certainly possible to eliminate the horizontal drift with a more accurate GPS and a better speed estimation algorithm.

Invoice Module

Task and Goal

The thesis consists of four main tasks. The first task is the mechanical design of the prototype, containing all structural components, weight and balance considerations, and the aerodynamic design. The second part is the electrical design. This part focuses on the different electrical components used on the prototype (Avionics), including the flight computer, sensors, high power wiring for the ducted fan, batteries and the signal buses between the components. The third part is the software design, which is split between the two programs needed. The prototypes flight computer software will be the central part in controlling the prototype and the iPad app used to monitor the flight from the ground. The final part is the conception of the control system which includes the physical measurement of the prototype and the subsequent creation of a Simulink model that can simulate it’s flight. The control system is tuned with the Simulink model and real flight tests until the prototype can hover.