Hardware Design Of The Autonomous Helicopter For Stabilization Control

Teh, Tze Chee (2010) Hardware Design Of The Autonomous Helicopter For Stabilization Control. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

This thesis presents the practical design approach on the stabilization of autonomous helicopter. The common problem of the helicopter is unstable. The helicopter will keep on rotating along the Y axis from clockwise to anticlockwise and vice versa as it lift and hover. Therefore, an approach comes out to solve its stability problem is to introduce the integration of an accelerometer into the helicopter’s circuit. A control board which is powered by microcontroller PIC16F877A is used to control the behavior of the helicopter autonomously. The control board will be attached to the bottom of the helicopter with connection to the top rotor, bottom rotor and tail rotor motor. The wire is keep as shorter as possible to avoid any mechanical trap during rotation of helicopter rotor. The PIC16F877A is programmed to test the helicopter movements in two stages that is test the helicopter with and without the integration of accelerometer. For testing with integration of accelerometer, the helicopter will react accordingly to the different accelerometer values in X and Y axis. Therefore, the particular accelerometer values need to be set in the microcontroller programming so that the helicopter will performs the basic movements that is hover, forward, backward, turn left and turn right respectively. For testing without integration of accelerometer, the helicopter also do the basic movements as mention above but without referring the accelerometer values. The coding in the microcontroller is preset with the movements. Each stage of movement is differentiated with the delay of 5 seconds. The experimental results are consists of ±2% of errors from the expected results. If the error percentage is within the range, then the objective of the project is achieved.

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