Académique Documents
Professionnel Documents
Culture Documents
INDEX
SR.
NO.
1
2
3
4
5
6
7
10
11
12
13
TITLE
ABSTRACT
INTRODUCTION
PROJECT OVERVIEW
SCOPE
LITERATURE REVIEW
RECENT DEVELOPMENT
METHODOLOGY
7.1
BASIC MATERIAL
7.2
BLOCK DIAGRAM
7.3
WORKING PRINCIPLE
7.4
MOTOR ROTATION
7.5
CIRCUIT DIAGRAM
MATERIALS
8.1
FRAME
8.1.1 REASONS TO CHOSE ALUMINUM
8.2
MOTOR MOUNT BASE PLATES
8.2.1 DESIGN
8.3
CENTER PLATE
8.3.1 DESIGN
8.4
BLDC MOTOR
8.4.1 MOTOR DRAWING
8.4.2 WORKING PRINCIPLE
8.4.3 THRUST CALCULATION
8.5
ESC
8.5.1 WORKING PRINCIPLE
8.6
PROPELLERS
8.7
TRANSMITTER
8.7.1 TRANSMITTER KEYS &COMBINATION
8.8
CAMERA
8.8.1 CAMERA ACCESSORIES
8.9
FLIGHT CONTROLLER
8.10 BATTERY
8.11 LANDING GEAR
8.11.1 DESIGN
FLIGHT CONTROLS
9.1
MOTIONS
9.2
TORQUE
9.3
YAW
9.4
ROLL
9.5
PITCH
BILL OF MATERIALS
FUTURE SCOPE AND SUMMARY
CONCLUSION
REFERRENCE
PAGE
NO.
4
6
8
10
12
15
17
18
18
19
20
22
23
24
25
27
28
29
30
31
32
32
33
34
35
36
37
38
40
41
42
43
44
45
46
47
48
49
50
51
52
54
57
59
Page 1
LIST OF FIGURES
SR.
NO.
7.1
7.2
7.3.1
7.3.2
7.3.3
7.3.4
7.5
8.1
8.2
8.2.1
8.3
8.3.1
8.4
8.4.1
8.5
8.5.1
8.6
8.7
8.7.1
8.7.2
8.7.3
8.8
8.8.1
8.9
8.10
8.11
8.11.1
8.11.2
9.1
9.2
9.3
9.4
9.5
12.1
TITLE
WORKING PRINCIPLE - BLOCK DIAGRAM
WORKING PRINCIPLE RECEIVER & FLIGHT CONTROL
MOTION OF MOTORS (TAKEOFF)
MOTION OF MOTORS (LANDING)
MOTION OF MOTORS (FORWARD)
MOTION OF MOTORS (BACKWARD)
CIRCUIT DIAGRAM
ALUMINUM FRAM
MOTOR MOUNT BASE PLATES
DESIGN
CENTER PLATES
DESIGN
BLDC MOTOR
MOTOR DRAWING
ESC
WORKING PRINCIPLE ESC
PROPELLERS
TRANSMITTERS
TRANSMITTERS KEYS & COMBINATIONS (RUDDER)
TRANSMITTERS KEYS & COMBINATIONS (ELEVATOR)
TRANSMITTERS KEYS & COMBINATIONS (AILERON)
CAMERA
CAMERA ACCESORIES
FLIGHT CONTROLLER
BATTERY
LANDING GEAR
CROSS LEGS DIMENSIONS
CROSS LEGS WITH REFERENCE TO FRAME
FLIGHT CONTROL MOTIONS
FLIGHT CONTROL - TORQUE
FLIGHT CONTROL - YAW
FLIGHT CONTROL - ROLL
FLIGHT CONTROL PITCH
FINAL IMAGE QUADCOPTER
PAGE
NO.
18
19
20
20
21
22
23
25
27
28
29
30
31
32
34
35
36
37
38
38
39
40
41
42
43
44
45
45
47
48
49
50
51
58
Page 2
LIST OF TABLES
TABLE
TABLE NAME
PAGE NO.
BILL OF MATERIAL
53
NO.
1
Page 3
1. ABSTRACT
Page 4
1. ABSTRACT
The military use of unmanned aerial vehicles (UAVs) has grown because of
their ability to operate in dangerous locations while keeping their human operators at
a safe distance. The larger UAVs also provide a reliable long duration, cost effective,
platform for reconnaissance as well as weapons. They have grown to become an
indispensable tool for the military. The question we posed for our project was whether
small UAVs also had utility in military and commercial/industrial applications. We
postulated that smaller UAVs can serve more tactical operations such as searching a
village or a building for enemy positions. Smaller UAVs, on the order of a couple feet
to a meter in size, should be able to handle military tactical operations as well as the
emerging commercial and industrial applications and our project is attempting to
validate this assumption.
Page 5
2. INTRODUCTION
Page 6
2. INTRODUCTION
Summary of goals
Page 7
3. PROJECT OVERVIEW
Page 8
3. PROJECT OVERVIEW
The ultimate goal of our project is to record an aerial video which can be
processed and stored. This technology can be used for search and rescue, firefighting,
law enforcement, military, and news reporting by being able to deploy aerial
correspondence much faster than conventional helicopters.
The end result of producing a digital video signal will allow for future expansions
such as UAV sentience, target tracking and video compression. There are many
components to this project and we must decide which areas will developed ourselves
and which areas will be implemented with 3rd party products.
The quad copter chassis and controller system consists of everything needed to
build and control the flying platform in which the camera will be mounted. This
includes a frame, DC motors, power supply, rotors, flight control circuit board, flight
control software, and an RC controller.
The video recording system consists of the components that record, store and
display the video. The digital video analysis system will take the raw video data,
convert it to digital if necessary, and load it into a computer. This system will need a
memory card, a computer and video processing software, if necessary.
Page 9
4. SCOPE
Page 10
4. SCOPE
Since as early as 1920, multicopter vehicles have been designed, built, and
used to experiment with aerial vehicle designs. The quadrotor or quadcopter design is
one example of the many prototypes produced. This particular design uses four
identical rotors mounted symmetrically; the result is a very stable flight platform. The
goal of this project is to use the stable aerial quadcopter design for practical uses by
attaching a live feed camera to a small-scale, remote controlled, quadrotor, unmanned
aerial vehicle (UAV). The video received will be transmitted by digital or analog
signals. If the captured video is an analog format it must be converted to digital video
after transmission. With a digital signal, the video can be easily processed for analysis
and storage.
Page 11
5. LITERATURE REVIEW
Page 12
5. LITERATURE REVIEW
Etienne Oehmichen was the first scientist who experimented with rotorcraft
designs in the 1920s. Among the six designs he tried, his second multicopter had four
rotors and eight propellers, all driven by a single engine. The Oehmichen used a steeltube frame, with two-bladed rotors at the ends of the four arms. The angle of these
blades could be varied by warping. Five of the propellers, spinning in the horizontal
plane, stabilized the machine laterally. Another propeller was mounted at the nose for
steering. The remaining pair of propellers was for forward propulsion. The aircraft
exhibited a considerable degree of stability and controllability for its time, and made
more than a thousand test flights during the middle 1920s. By 1923 it was able to
remain airborne for several minutes at a time, and on April 14, 1924 it established the
first-ever FAI distance record for helicopters of 360 m.Later, it completed the first 1
kilometer closed-circuit flight by a rotorcraft.
After Oehmichen, Dr. George de Bothezat and Ivan Jerome developed this
aircraft, with six bladed rotors at the end of an X-shaped structure. Two small
propellers with variable pitch were used for thrust and yaw control. The vehicle used
collective pitch control. It made its first flight in October 1922. About 100 flights
were made by the end of 1923. The highest it ever reached was about 5 m. Although
demonstrating feasibility, it was, underpowered, unresponsive, mechanically complex
and susceptible to reliability problems. Pilot workload was too high during hover to
attempt lateral motion.
Page 13
Page 14
6. RECENT
DEVELOPMENT
Page 15
6. Recent Development
Recent quad rotors or quadcopter which are being manufactured and used in
aerospace industry are listed below:
Aermatica Spa's Anteos is the first rotary wing RPA (remotely piloted aircraft)
to have obtained official permission to fly (Permit To Fly) issued in the civil airspace,
by the Italian Civil Aviation Authority (ENAC), and will be the first able to work in
non-segregated airspace.
Page 16
7. METHODOLOGY
Page 17
7. METHODOLOGY
Page 18
Page 19
This Figure above shows the motion of motors for Takeoff. It is clearly seen
that front left motor & rear right motor rotates in clockwise direction and front right
motor & rear left motor rotates in anticlockwise direction. The takeoff motion
happens when throttle is positively increased.
Page 20
Page 21
When motor speed of front is increased and the speed of rear motors is
decreased, then the quadcopter tilts in rear direction and the front region gets lifted up.
This causes the backward motion of quadcopter. It is to be noted that the
direction of the motor remains the same while in flight.
The only way to change motor direction is to land it and make changes in
motor bullet connectors to electronic speed controller.
Page 22
Page 23
8. MATERIALS
Page 24
8.1 FRAME
Material Aluminum
Shop Novel Aluminum, Bagal Chowk
Shape X
Angle between Landing Gear and Frame 40 Degrees
Nuts & Bolts M3 (3x40mm Center, 3x30mm Side)
Raw material length10 Foot (4 Bar 10 In. each)
Welding Argon Welding (Udyamnagar)
Landing Gear 15 cm
Page 25
Aluminum is a fine material for multis and is widely used. Aluminum is easy
to fabricate and can often be bent back into shape after crashes. Aluminum has been
used in aircraft since WW2, and is still being used today. Even the most advanced
aircraft use a significant amount of aluminum. It's also a great material for Aero
Quads.
It's readily available and fairly inexpensive. It's also easy to machine, as
carbide and steel tools can machine it fairly easily. There are a fair range of different
aluminum alloys available, and although they generally have similar densities and
stiffness's, the strength can vary greatly. Although 6061 is frequently referred to as
'Aircraft grade' it isn't used on modern aircraft at all and with a tensile strength of just
30 ksi, its not very strong.
Page 26
Material Acrylic
Pieces 4
Diameter Center Hole 8mm & Side holes 3mm
Length 40mm
Thickness 2mm
Number of holes 7
Radius 12mm
Designing Software AutoCAD & CorelDraw
Cutting Method Laser Cutting
Nuts & Bolts - 3x30 mm
Page 27
8.2.1DESIGN
Page 28
8.3CENTER PLATE
Page 29
8.3.1 DESIGN
Page 30
Manufacturer Phantom
Type Brushless DC (Out runner)
Shaft Diameter 4mm
Shaft Length: 49mm
Ratings 930 KV , 6000 - 8000 rpm , 12 14 Volt
Thrust 850 to 950 Grams using 10 X 4.5 (Inch X Pitch) Propellers
Connectors Gold Bullet
Dimension: 28X24mm
Shaft: 8.0mm
Weight: 56gr (with Prop Adapter)
Standard Current: 15-25A Max Current : 30A
Department of Production Engineering, K.I.T.'s COEK
Page 31
8.4.1MOTOR DRAWINGS
Page 32
8.4.3THRUST CALCULATION
Page 33
Page 34
8.5.1 WORKING
Signals are directly sent by the transmitter remote control to receiver and then
sent to ESC. Transmitter is used by the user to control the quad manually. If the user
changes the input, transmitter sends radio signals to receiver and receiver changes
these signals to PWM signals. These PWM signals are sent to ESCs causing the
change in the speed of the motors.
Page 35
8.6 PROPELLERS
8.6 PROPELLERS
Page 36
8.7TRANSMITTER
Channel 6
Frequency 2.4 GHz
Manufacturer Fly Sky
Channel 5 Auto Stability
Channel 6 Free for GPS
Transmitting Range 1 Km
Power 12 Volt
Source AA Batteries
Our Transmitter is Mode 2, where left hand side is throttle unlike Mode 1, where left
right hand side is throttle (European)
Page 37
It is clearly seen in the above figure, the left joystick in transmitter is for
Throttle in vertical direction (up and down) and Rudder in horizontal direction (left
and right). This motion is related to Yaw motion of quadcopter which is explained
later.
Page 38
From the figure above, it is understood that right joystick of transmitter is for
Aileron motion in horizontal direction (left and right). The aileron motion is
concerned with Pitch motion of quadcopter.
Page 39
8.8 CAMERA
5 MP Camera
1280x960 Pixels Camera
Rechargeable Camera
Mini Camera
Size: 4.6cm x 3cm x 1.5cm (1.81inch x 1.18inch x 0.59inch)
Format: AVI (video), JPG (picture), WAV (sound)
Video compression: M-JPEG
Charging time: About 3 hours
Video resolution: 720*480 @ 30fps
Page 40
Page 41
Page 42
8.10 BATTERY
Inch X Pitch
Page 43
8.11LANDING GEAR
Page 44
Page 45
9. FLIGHT CONTROL
Page 46
9.1 MOTIONS
Each rotor produces both a thrust and torque about its center of rotation, as
well as a drag force opposite to the vehicle's direction of flight. If all rotors are
spinning at the same angular velocity, with rotors one and three rotating clockwise
and rotors two and four counterclockwise, the net aerodynamic torque, and hence the
angular acceleration about the yaw axis, is exactly zero.
Page 47
9.2 TORQUE
Page 48
9.3 YAW
A quad rotor adjusts its yaw by applying more thrust to rotors rotating in one
direction. Yaw is induced by mismatching the balance in aerodynamic torques (i.e.,
by offsetting the cumulative thrust commands between the counter-rotating blade
pairs).The shown figure indicates the motion of quadcopter in yaw motion when
rudder is applied through transmitter. The method of applying rudder can be referred
in section 8 materials transmitter transmitter keys and combinations.
Page 49
9.4ROLL
A quad rotor adjusts its roll by applying more thrust to one rotor and less
thrust to its diametrically opposite rotor. The figure shown clearly indicates that when
aileron is applied through transmitter key and combinations, the quadcopter can
perform roll motion which can be explained as the motion of quadcopter where it
rotates about its own axis.
Page 50
9.5 PITCH
A quad rotor adjusts its pitch by applying more thrust to one rotor and less thrust
to its diametrically opposite rotor. As seen in the figure the quadcopter can rise its
altitude or lower its altitude using the pitch motion. When transmitter keys are used to
give elevator function to quadcopter, it performs pitch motion.
Page 51
10.BILL OF MATERIALS
Page 52
Particulars
Qty
Specification
Function
930kv,
Motion to
6000-8000rpm,
Propeller
BLDC
(brushless
DC Motor)
12-14volt
ESC
25A,Contains
Speed
Microcontroller,
Control
MOSFET
Of Dc
(Electronic
Speed
Control)
Battery
Cost
Manufacturer
6000
Phantom
4000
Hobby king
2000
Turnigy zippy
500
Turnigy
5000
Fly sky
6000
KK Board
Motor
12v,3cell,Li-Po
Power
Supply
Propellers
10X4.5 (InchXpitch)
Flight
Transmit
Transmitter
6channel,2.4Ghz,range1km
signal to
flight
controller
Autopilot
Flight
Controller
system
Gyroscope MPU6050
with
Accelerometer
hybrid
ADXL35
sensors
and
algorithm
Page 53
Page 54
The system would consist of GPS tracking for location tracking, ultrasonic
range finders for collision detection, and an autopilot controller to tie all the systems
together.
The autopilot software would be the greatest challenge but also the most
useful feature. With a completely automated system the UAV could be given patrol
routes for constant surveillance in secure areas.
11.1 ADVANTAGES
Small-scale quad -copters have frames that enclose the rotors, permitting
flights through more challenging environments, with lower risk of damaging the
vehicle or its surroundings.
Quad copters do not require mechanical linkages to vary the rotor blade pitch
angle as they spin. This simplifies the design and maintenance of the vehicle.
The use of four rotors allows each individual rotor to have a smaller diameter
than the equivalent helicopter rotor, allowing them to possess less kinetic energy
during flight.
Page 55
11.2 DISADVANTAGES
Quadcopter
Page 56
12. CONCLUSION
Page 57
12. CONCLUSION
After a lot of hard work and research, we completed the project in March. After
completion of quadcopter, we immediately started to learn how to fly the quadcopter.
This process took a lot of time because it is not an easy job to fly the quadcopter. But
after a while we almost perfected the art of flying the quadcopter.
The simulator software available for laptop proved to be useful before taking actual
flight in order to prevent the damage to quadcopter. The final image of quadcopter is
shown below.
Hence, here we conclude our project report.
Page 58
13.REFERENCES
Page 59
LINKS
http://www.aeroquadstore.com/AeroQuad_Kits_s/40.htm
http://store.diydrones.com/category_s/28.htmhttp://store.scoutuav.com/products/prod
uct-category/scout-kits/
OTHER LINKS
[1] K. Munson. (1968). Helicopters and Other Rotorcraft Since 1907 [Online].
Available: http://aviastar.org/helicopters_eng/oemichen.php
[2] Gabriel Hoffmann. (2007, January 15) Schematic of reaction torques on each
motor of a quadrotor aircraft, due to spinning rotors [Online].
Available: http://en.wikipedia.org/wiki/File:Quadrotor_yaw_torque.png
[3] FPVUK (2012) How do I go about it? [Online]
Available: http://fpvuk.org/what-is-fpv/what-do-i-need/
[4] Simon Sze. Chapter 13.6 inPhysics of semiconductor devices (3 ed.) John Wiley
and Sons, 2007.
[5] lorextechnology.com (2012) Understanding Digital and Analog Wireless
Technology [Online].
Available:http://www.lorextechnology.com/support/selfserve/Understanding+Digital+and+Analog+Wireless+Technology/3700043
[6] Rockwell Semiconductor Systems (1997) Single-Chip Video and Broadcast Audio
Capture for the PCI Bus[Online].
Available: http://www.ituner.com/spectra/Bt878.pdf
[7] Howard Shane. (2005, January 29) The BTTV HOWTO [Online]
Available:http://www.ibiblio.org/pub/Linux/docs/HOWTO/otherformats/html_single/BTTV.html
Page 60