CYCLIC CONTROL IMPLEMENTATION ON NUCLEOSTM32F411RE FOR PROPELLER ORIENTATION ANGLE CONTROL SYSTEM ON UAV

• Main Author: Gunawan, Joshua
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/41915
• Institution: Institut Teknologi Bandung

Drone technology is being developed continuously for a couple years back. Because of this technological improvement, the demand for drones to solve problems also increased. One of the problem that encounter current drone configuration is the inability to perform lateral and longitudinal movements. This is because the drone configuration generally does not have independent control of the force on the six axes of movement. Recent studies showed that a swashplateless system can be used for thrust vectoring. If all of the actuator have the capabilities to do thrust vectoring, then a certain configuration can be chosen in order to have control over the force on the six axes. The cores of this system are two hinges on the motor hub and also the use of cyclic control algorithm. This document discuss the process of cyclic control implementation on STM32 microcontroller. The discussion includes peripheral settings, sampling rate considerations, and task scheduling methods. The implementation results show that cyclic control has been successfully implemented on the system that has been designed.