Running Head: QUADCOPTER TECHNOLOGY

Operation and Applications of Quadcopter Technology

Meghana Oruganti & Harika Kancharakuntla
Wilmington University

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Abstract

Quadcopters are unnamed aerial vehicles (UAV) or drones, operated to fly independently and
controlled by the pilots on the ground. They are categorized as a rotorcraft because when
compared to a fixed wing aircraft, their lift is generated by a set of vertically oriented propellers.
Drones are gaining popularity because of their small size and dexterity. Drones prove to be very
fascinating as they utilize principles of electronics, mechanics, and principals of aviation.
Specifically, electronics has allowed for the use of cheap lightweight flight controllers, global
positioning systems, and cameras in drones. Each type of drone has a specific configuration.
Examples include Bicopters, Tricopters, Pentacopters, etc. The usage of these copters may vary
with configuration. For instance, the wide angle of the two front arms in the Pentacopter with
five motors allows the propellers to have a strong grip of the camera. The Hexacopter provides
more lifting capacity with six motors.
Our project explores the operation, construction, components, and applications of the quadcopter
technology. As there are growing safety and other concerns, it is critical that we keep developing
this technology in the right way.
Keywords: quadcopters, drones

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Introduction

A quadcopter or a quadrotor is a multirotor helicopter that is lifted and propelled by four rotors.
Unlike a large fixed-wing aircraft, the lift is generated by a set of vertically oriented propellers
(rotors). Each of the four arms is connected to the motor and propeller.
During the early 1900s, an aircraft designer, Louis Bregeut, designed a four-rotor helicopter, the
first rotary wing aircraft to gain traction in the air. Past models of the drones consisted mostly of
large fixed-wing aircrafts with a range of 50-100 foot wingspan. At the beginning, this
technology was used primarily for the military to make it easier to find the enemy. Recent
progress has allowed us to expand monitoring capabilities.
In general, two pairs (clockwise and counterclockwise) of identical fixed pitched propellers are
used in quadcopters. In order to control quadcopter, these propellers must use independent speed
rotor variation. By varying each of the rotor speeds, it is possible to locate the center of the thrust
both laterally and longitudinally. Compared to vertical take-off and landing (VTOL) vehicles, the
quadcopters are lightweight, and are easier to control.
The quadcopter technology is similar to that of the helicopter. However, quadcopters are cheaper
and more durable when compared to a conventional helicopter due to their simplicity. It is more
advantageous to have small blades in drones as they possess more kinetic energy thus reducing
the potential for damage. In general, multicopters are aerodynamically unstable as they work
under a fly by wire technique. This technique requires a remote controller (or) any on-board
computer. If the system fails to operate, then the multicopter wont fly.
A simple quadcopter becomes a multicopter when it combines with a rotating mechanism (gyro
information), accelerometer and GPS data. It will be easy for the flight controller to understand

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the orientation and the positioning of the quadcopter. If the blade size and rotor increase
simultaneously, efficiency and productivity will rise since there will be a decrease in kinetic
energy. Quadcopters are a growing technology that have several components.
Components and Operation
Quadcopter is a device that utilizes electronics, mechanics, and aviation principles. As the
controller transmits the signal from a particular direction (i.e., takeoff motion, landing motion,
forward motion, backward motion, left motion, right motion), each of the four motors will have
different thrust forces.

Figure 1. This shows a block diagram of a quadcopter. The program is built into the
microcontroller. The signal sent from the microcontroller is received by the electronic speed
controllers (ESCs), which control the speed of the rotors.
There are many components involved in a quadcopter. These include the frame, rotors or motors,
propellers, battery source, electronic speed controller, radio transmitter, receiver, flight controller,
micro-controller, GPS, cameras, ultrasonic sensors, etc.
The frame is the center plate in which the electronics is mounted with four armed motors. It is
made of carbon, aluminum materials with strong and light weight. The motors used in this are
similar to DC motors. The coils and magnets are used to drive the motor shaft. Lithium Polymer

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(LiPo) batteries are primarily used as a power source for the quadcopter technology due to their
light weight and low cost. While a nickel metal hydride (NiMH) battery may be used, but its
heavy size is a drawback.
The electronic speed controller instructs the rotors to spin in certain directions and controls the
speeds of the motor. Four ESCs are required for a quadcopter since it has four motors. Each
motor spins at same speed in order to achieve flight accuracy. Most of the ESCs are
manufactured to include a built-in battery eliminated circuit (BEC) which allows the ESCs to
operate the flight control board.
The quadcopter is controlled by the radio transmitter and receiver. There are different ways to
control the quadcopter, but a RC transmitter is the most preferable. The radio transmitter-receiver
makes it easier to avoid direct connections with the battery. Furthermore, using a radio with eight
channels will result in higher flexibility. The four motor speeds are adjusted automatically and
keeps the quadcopter stable.
Most of the flight controllers in quadcopters have gyroscopes and accelerometers. The advanced
flight controllers have pressure sensors, GPS and compass. They are considered the brain of the
multicopters. The software techniques and algorithms used in the flight controllers vary thus
resulting in a user interface with different varying characteristics. Sensors are connected to
microcontrollers such as Arduino which decide how to control motors.
The internal measuring unit is the electronic sensor system which measures the orientation,
velocity and gravitational forces in the quadcopter. There are three orientation angles: roll, pitch,
and yaw. These angles are connected to electronic sensors and calculate the required speed
change in the motor, which are measured by the gyroscope. It acquires certain angular velocity,

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when the sensor starts rotating. The reference to the earth surface is calculated using the
orientation of these angles and the accelerometer.

Figure 2: Shows the rotation of axis of the orientation angles.

The flight controller ensures the rotors thrust and torque are at the center of its rotation axis. All
of the four rotors align to form a square. Each motor has an individual switch to operate. Two
motors operate in clockwise direction while the other two motors operate in counterclockwise
direction.
Quadcopter motion depends on the propellers speed. To take control of the quadcopter, motors
must rotate with the same speed, which can be reached using a remote controller. Motor speed
should not be increased suddenly. Back motor speed should be increase to move the quadcopter
in the forward direction and vice versa. Additionally, by changing the yaw angle, which is in the
middle of each motor, the quadcopter can be moved in the right or left direction. The speed of the
four motors have to be slowed down to land the quadcopter. Controlling the speed of the motors
is critical to the proper navigation of the quadcopter.

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Mechanism

To operate the quadcopter, an intricate algorithm needs to be implemented in MATLAB. Other

functions must be done in order to calculate all the forces and torques.
PID (proportional-integral-derivative) is a closed loop control system that attempts to get the
exact result closer to the desired result by adjusting the input. Quadcopters use a PID controller
to gain stability.

Figure 3: Portrays a PID controller which contains three algorithms. P is proportional, I indicates
integral, and D means derivative. While all three algorithms deal with errors, P focuses on
present errors, I controls past errors, and D handles future errors.
A pilot can adjust three parameters to enhance quadcopter stability. The three parameters are the
coefficients to the three algorithms explained through Figure 3. Changing the coefficient directly
impacts the output.
The remote controller must be used to change the direction of the quadcopter. If it is not moving
properly, the algorithms need to be changed and a test run should be completed. Once the
programs are working properly, the quadcopter will be ready for use.
Applications
Recent technologies have made new innovations that paved the way for developing quadcopters.
Quadcopters have wide range of applications in the field of military, research, photography, and

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more. Medically, we are able to send first-aid boxes to remote areas and utilize the cameras in a
quadcopter to assess dangerous situations before sending in medical personnel. The military can
use these drones for information surveillance and reconnaissance. They are especially
advantageous for search and rescue operations. Also, as this is technology is increasing, it is
being used in robotics and 3-D mapping. Drones are small in size which makes surveying
landscapes and using the images to make 3-D maps easier. These maps are used in construction,
engineering and architecture. Quadcopters are multi-purpose thus have proven to be invaluable
tools.
Advantages
Drones have proven to be advantageous in multiple ways. Unlike airplanes and helicopters which
require pilots, drones can be controlled remotely thus reducing potential danger to the people
who are operating them. Another benefit of the quadcopter is that it can be landed anywhere due
to its small size. Quadcopters also do not require mechanical linkages to change the rotor blade
pitch angle, which simplifies the design and maintenance of the vehicle. Finally, drones play a
role in aerial photographs providing geographical information. As stated, these quadcopters are
valuable in many ways and enhance strategy and technique.
Disadvantages
While there are many advantages to this technology, there are several disadvantages. One hassle
is that recharging motors will take about 8-10 hours. The battery will also need to be replaced.
Furthermore, as the technology grows, the complexity in designing and calculating may rise.
Another risk with the use of this technology is that drones can be used for spying thus violating
peoples privacy. Regardless of the number of disadvantages, it is critical to consider the
situation and determine if the benefits of this technology outweighs the cost.

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Future Scope

Originally, quadcopters served a military purpose. However, rapid developments in the

technology has led to increased use of quadcopters in several other uses. Now, they are utilized
in making high-budget movies, and high profile photography for sports and weddings.
Quadcopters are involved in the process of detecting pesticide levels in agricultural fields, 3-D
mapping etc. Moreover, extended components such as GPS tracker, Wi-Fi, water-proof materials
make it easy to assist in rescue missions, maintain surveillance and gather intelligence reports.
The developments in this technology have resulted in drones with a better yaw stability and
configuration. Developing the drone technology will be a source for job opportunities. As the
drones continue to advance, it is critical that we emphasize safe uses of the technology.
Furthermore, we need to ensure that the usage of this technology does not violate individual
rights of privacy unless it is for the overall good. It could also beneficial to evaluate if these
drones can be used regularly in other areas such as medicine. Quadcopter technology is multifaceted and will continue to grow in years to come.
Conclusion
Current usage of drones is a good start but they will soon become a part of our daily lives.
Taking photos, making deliveries, providing security, aerial advertising are some of the way that
people will able to use this technology regularly. In the future, drones will result in more job
opportunities in the areas of business, IT companies, farming, and medicine. Quadcopters can be
controlled with a remote, thus be used for dangerous activities. This technology is unique and
advantageous due to its small size and dexterity. The quadcopter technology maintains a good
balance between cost, capacity, and productivity, hence will continue to advance further.

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