Stabilized Camera for a Nano-UAV
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This thesis describes the design and creation of a system for stabilizing a camera mounted on a nano-UAV. A prototype voice coil actuator was produced, and Hall effect sensors were used to measure the angle of the actuator. The actuator and sensor is used to counter vibrations in the UAV. A circuit board used to control the actuator was designed and created, and a controller for the system was implemented. Testing showed that the controller was able to counter vibrations, but the bandwidth was low, only a few hertz. Wires connected to the actuator and sensor had significant impact on the system. They caused a spring/damper effect which meant more current was required, which again caused lower bandwidth due to saturation. On the other hand, the wires also lead to passive damping of higher frequencies. Unfortunately, there is a frequency band around 10 Hz where neither active nor passive control provides damping.