ISSN 2395-1621 QUADCOPTER USED FOR FERTILIZER …ierjournal.org/pupload/ICIRTE-17/G2.8 ELECTRICAL ready.pdf · ISSN 2395-1621 QUADCOPTER USED FOR ... Controllers (ESCs) which are

www.ierjournal.org International Engineering Research Journal (IERJ), Special Issue Page 291-295, 2017 ISSN 2395-1621

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ISSN 2395-1621

QUADCOPTER USED FOR

FERTILIZER SPRAYING #1

Bhosale Meghana G., #2

Gandhi Dipali S., #3

Ghorpade Arati V., #4

KadamSnehal S., #5

Mr. Bhosale Prathmesh P.

[email protected], [email protected],

[email protected], [email protected]

[email protected]

#1234

UG Students,Department of Electrical Engineerin., Arvind Gavali College of

Engg.,Satara,Shivaji university,Kolhapur, Maharashtra,India. #5

Assistant Professor, Department of Electrical Engineering,

Arvind Gavali College of Engg.,Satara Shivaji University, Kolhapur, Maharashtra, India.

ABSTRACT

ARTICLE INFO

This paper suggest that designing of quadcopter used for fertilizer spraying with

engineering prospectives and views. Because In agricultural fields, fertilizer &

pesticides spraying is must.sometimes its harmful to human being,The World health

organization estimates that there are more than 1 million pesticides cases in each year

in that more than 1 lakhs in every year especially in developing country due to the

pesticides sprayed by human being.the pesticide affects the nervous system of

humans& also leads to disorders in body.Also irregular spraying is not economical to

farmers.To overcome this problem & to develop agricultural technologies we design

UAV i.e unmanned arial vehicles.In UAV it uses electronic control system &

electronic sensors which stabilize the aircraft.It is controlled by remote.So the hard-

work,human efforts,lack of human problems can be solved by it.This system reduce

the problems related to agricultural fields & also improve the agricultural

productivity.This system reduces health problems which are caused by manual

spraying.

Keywords – Agriculture, Multipurpose Sprayer.

Article History

Received: 25th

March 2017

Received in revised form :

25th

March 2017

Accepted: 25th

March 2017

Published online :

4th

May 2017

I. INTRODUCTION

In India about 73% of population is directly or indirectly

depends upon farming. Hence India is said that agricultural

based country. But till now farmers are doing farming in

same traditional ways[1].So, to introduce a new technology

for farming we are going to design quadcopter. UAV have

become cheaper because many control functions can be

implemented in software rather than having to depend on

expensive hardware. This even allows multiple UAVs to be

used for a single application. In this paper we propose an

architecture based on UAVs that can be employed to

implement a control loop for agriculture applications where

UAVs are responsible for spraying chemicals on crops. The

process of applying chemicals is controlled by means of

feedback obtain from wireless device deployed on the crop

fields. We evaluate the impact of the number of

communication messages between the quadcopter and

remote controller and minimize the waste of pesticides.[1]

II. THEORETICAL STUDY

A. Working Principle

Quadcopter is a device with intense mixture of

Electronics, mechanical and mainly on the principle of the

aviation. The quadcopter has a four motors whose speed of

rotation and the direction of rotation changes according to

the users desire to move the device in a particular direction

(i.e. Take-off motion, Landing motion, Forward motion,

Backward motion, Left motion and right motion.) The

rotation of motor changes as per the transmitted signal send

from the 6-channel transmitter.The program for which is

written in the AT-MEGA 168 chip.The signal from microcontroller goes to the ESC’s which is turn control the

speed of motor.

B. Theory All DC brushless motor attached by parallel

connection with other motors. Power distributed to power

distribution board from battery. Further the power

distributes equally to four electronic speed controllers and

then goes in to each DC brushless motors. Accelerometers

will measure the angle of Quadrotor in terms of X, Y and Z

axis and accordingly adjust the RPM of each motor in order

to self stabilize by it-self. The stability is provided by setting



the direction of rotation clockwise of one set of opposite

motors and counter-clockwise of other set of motors which

nullifies the net moment and gyroscopic effects.

Magnetometer provides better suitability for heading than

tilt.Barometer measures the atmospheric

pressure.Controlling of quadrotor involves different four

states.

a. Yaw Motion (ψ): This motion is attained by increasing speed of

appropriate set of motors. By generating couple of

force from two neighbour motors, yawing can be

achieved.

b. Pitch Motion (ө):

This motion is attained by increasing speed of

appropriate set of motors. By generating couple of

force from two neighbour motors, yawing can be

achieved.

c. Roll Motion (Ф):

This motion can be attained by generating couple

of forces from the set of motors in the direction

other than the direction of motion (Left and Right

side motor.

d. Upward motion (Z direction): The force required

for this motion is known as lift force and generated

by thrust produced by four propellers rotating at

same speed.[2]

By using this principle one is able to adjust the

speed and can get desired speed of each individual motor in

order to get desired yaw, pitch and roll. RPM of the shaft of

a motor is a function of voltage provided to that motor. Roll

and pitch can be controlled by changing the speed of the

appropriate motor, while yaw control involves proper

balancing of all four motor results in to change in moment

and force applied to take appropriate turn.

C. Construction

Quadrotor consisting of a main body having four

arms centrally connected to each other and four DC

brushless motor attached to each free end of arm. Quadrotor

consists of four rotor/propeller attached to each motor shaft.

Four rotors with fixed angles represent fixed pitch to

generate equivalent force at each end to lift the body and

payload. All DC brushless motors are attached to electronic

speed controller to control speed of each individual motor.

Four electronic speed controllers connected with each other

by parallel connection in to power distribution board. A

battery is used as power source. The rotation of propeller is

controlled by remote controller.[2]

D. Block Diagram

Figure.1 : Block Diagram

III. COMPONENTS

a. Flight control board :

Figure 2: Flight Control Board



The Quadcopter controller is a flight control board for 4

rotor Aircraft (quadcopters). Its purpose is to stabilise the

aircraft during flight. To do this it takes the signal from the

three gyros on the board(roll, pitch and yaw) and feeds the

information into the Integrated Circuit (At mega IC). This

then processes the information according the software and

sends out a control signal to the Electronic Speed

Controllers (ESCs) which are plugged onto the board and

also connected to the motors. Depending upon the signal

from the IC the ESCs will either speed up or slow down the

motors in order to establish level flight.The board also takes

a control signal from the Remote Control Receiver (RX) and

feeds this into the IC via the aileron, elevator, throttle and

rudder pins on the board. After processing this information,

the IC will then send out a signal to the motors (Via the M1

to M4 pins on the board) to speed up or slow down to

achieve controlled flight (up, down, backwards, forwards,

left, right, yaw) on the command from the RC Pilot sent via

his Transmitter (TX).The Quadcopter flight configurations

depend on which firmware is loaded onto the chip.This

configuration is Quadcopter (4 Rotor x- configuration).

b. Microcontroller: Microcontroller consists of 3-axis gyroscope and 3-axis

accelerometer. An accelerometer is a device measures

acceleration forces. A gyroscope is a device used primarily

for navigation and measurement of angular velocity.We

used MCU 6050 microcontroller IC.

MPU-6050 processor unit –

Gyroscope Features –

i. Factory calibrated sensitivity scale factor

ii.User self-test

Accelerometer Features –

i. Orientation detection and signaling ii.Tap detection

Digital-output temperature sensor

User-programmable digital filters for gyroscope,

accelerometer, and temp sensor

10,000 g shock tolerant

9-Axis Motion Fusion by the on-chip Digital

Motion Processor (DMP)

Minimal cross-axis sensitivity between the

accelerometer and gyroscope axes c. DC Brushless Motor:

Brushless motors has more advantage compare to brushed

motor, force motor and servo motor in terms of

comparatively more efficiency, reliability, longer life span,

more power, high torque per weight, reduced noise factor,

elimination of ionizing sparks from commutator and overall

reduction of electromagnetic interface.Brushless DC electric

motor also known as electronically commutated motors are

synchronous motors that are powered by a DC electric

source via integrated inverter/switching power supply,

which produces an AC electric signal to drive the motor.A

BLDC motors for quadcopter is constructed with a

permanent magnet rotor and wire wound stator poles.

d. Propellers:

Propellers are used to generate aerodynamic lift force. A

pair of clockwise rotating and a pair of counter clock wise

rotating propellers nullifies the gyroscopic effect of each

individual motor. We used propellers having diameter of

200 mm.

e. Electronic Speed Controller (ESC):

An ESC is an electronic circuit used to vary an electric

motor's speed and also acts as dynamic brakes of the

system.It takes signal from microcontroller and breaks into

3 partsand sends it to the BLDC motor. We would require 4

ESCs as we are using 4 BLDC motor.The ESC is an

inexpensive motor controller board that has a battery input

and a three phase output for the motor. Each ESC is

controlled independently by a PPM signal (similar to PWM).

The frequency of the signals vary, but for a Quadcopter it is

recommended the controller should support high enough

frequency signal, so the motor speeds can be adjusted quick

enough for optimal stability.

We used 30A electronic speed controller.

f. Battery (LiPo):

Lithium polymer batteries (LiPo) are most popular for

powering remote control aircraft due to its light weight,

energy density, longer run times and ability to be

recharged.They offer high discharge rates and a high energy

storage/weight ratio. However, using them properly and

charging them correctly is no trivial task.We used

Li-po 3 cell 12v 2200mAh battery.

g. Remote controller (RC):

A radio control (RC) system needs a transmitter and

receiver. Remote controller is used to serve multi purposes

like voltage regulation to ESCs, steering control, vertical

take-off and landing (VTOL).This receives 2.4GHz signals

coming from the transmitter side. It has got 6 independent

channels to receive the signal from the transmitter and then

send the signal to the microcontroller for further processing.

But we used four channels.These channels are

i. Aileron

ii. Elavator

iii. Throttle

iv. Rudder

i. Aileron :

This control is concern with the Channel 1 of the

radio transmitter.It is responsible for the Right and

Left control of the quadcopter.In turn it can be said

that it changes the position of the Quadcopter in the

Roll axis.

ii. Elevator :


radio transmitter.It is responsible for the Forward

and Reverse control of the quadcopter.In turn it can



be said that it changes the position of the

Quadcopter in the Pitch axis.

iii. Throttle :


radio transmitter.It is responsible for the Takeoff

and Landing control of the quadcopter.The

increment in the values of the throttle is directly

propotional to the speed of the motors.

iv. Rudder :


radio transmitter.It is responsible for the Right and

Left spin control of the quadcopter.In turn it can be

said that it changes the Forward position or nose of

the Quadcopter corresponding changes are made in

the Yaw axis.

IV. ASSEMBLY MODEL

For assembly model of quadcopter.

V. BASIC CONSIDERATION FACTORS

Tentative Weight of all components

a. Frame :- 1000 gram

b. PCB assembly : 200 gram

c. 4 Propellers : 50 gram

d. 4 motors : 200 gram

e. 4 ESC : 200 gram

f. various sensors : 150 gram

g. Material carrying capacity : 300 gram

h. Battery = 400 – 500 gram

Material carrier =

1. Total weight : 1900 gram

By including 20% factor of safety, weight for design is =

1900+ 20% of 1900 = 1900+380 = 2280 gram

Approximate = 2300 gram. = 2.3 kg

Weight requirement for each motor for Quadcopter, = 2.3/4

= 0.575 kg 2. We assume that we need 40 km/hr highest material

delivery speed ,

So 40 km/hr = 11.12 m/s

We know, Power requirement

Power = force x velocity

Power = m*g*v = 0.575 * 9.81*11.11

Power = 62.663 Watt

Power requirement of motor is approximately 63 watt.

3. Current rating:-

Voltage for battery is constant that is 12v and 5v ( battery

gives two output 12v and 5v, 12v gives to motor and 5v

gives to control unit)

Power = voltage x current

Current rating for motors

63 = 12 x I

I = 5.2 A

Current rating

For motor is current rating is 5.2 A

4. Torque requirement

Power = torque x angular velocity

P = T x w

P = torque x 2pi*n/60.............(Minimum rpm required =

1000 rpm)

P = T x 837.75

T = 63/837.75 = 0.60 Nm= 6.13 kg-cm

Torque requirement for motor is 6.13 kg-cm

5. Minimum RPM requirement = Minimum input vtg x

KV rating of motor x Efficiency

6. Thrust =( propeller Dia)^2 x pitch of propeller x

propeller RPM

7. Position of motors = Dia of propeller / (root 2)

8. KV rating of motor = speed/ (volts x 1.414 x

0.95)...............(0.95 = fudge factor of motor)

If we have a motor of 1000kv rating then , for minimum

rpm we should run motor at 11.1 v and motor have 90%

efficiency, so

Minimum propeller rpm = 11.1 x 1000 x 0 = 9990 rpm

VI. CONCLUSION

His method can be used in all situations like highly toxic

pesticides can be spray.

His method prevents the encounters with poisonous snakes

like viper and cobra found in the firm.

They are sprayed from lower altitude which reduces the

environmental pollution.

The main goal of our paper gives solution of all problems

like shortage of labors, health issues that are faced by farmer

during pesticides spraying. Due to use of quadcopter we are

going to increase productivity at less input and stability of

quadcopter.

VII. FUTURE SCOPE

In future battery power can be replaced by solar

system as a power source. By using additional camera we

can avoid the irregular spraying in the firm. By increasing

operating range we can use it as a camera application. By

increasing the tank capacity we can increase the application



area. In future we can introduce Android application by

replacing remote controller for the controlling mechanism .

REFERENCES

1. itish Das, Namit Maske,Vinayak Khawas,

Dr.S.K.Chaudhari,Er.R.D.Dhete,“Agricultural Fertilizers

and Pesticides Sprayers - A Review” IJIRST –International

Journal for Innovative Research in Science &

Technology,Volume 1, Issue 11 ,April 2015.

2. Mr. Kalpesh N. Shah, Mr. Bala J. Dutt, Hardik Modh

,"Quadrotor –An Unmanned AerialVehicle" IJEDR-

International Journal of Engineering Development

andResearch”,Volume2, Issue 1,2014.

3. A. Gaodi, A. S. Lonkar, A. S. Wankhede, S. D.

Gandate“Development Of Multipurpose Sprayer- A

Review”International Research Journal of Engineering and

Technology (IRJET) Volume: 03 Issue: 03 | Mar-2016 Page

540.

4. rof. Swati D. Kale, Swati V. Khandagale, Shweta S.

Gaikwad, Sayali S Narve, Purva V Gangal “Agriculture

Drone for Spraying Fertilizer and Pesticides” International

Journal of Advanced Research in Computer Science and

Software Engineering, Volume 5, Issue 12, December 2015.

5. hilpa Kedari,Pramod Lohagaonkar, Monika Nimbokar,

Gangaram Palve, Prof. Pallavi Yevale, “Quadcopter - A

Smarter Way of Pesticide Spraying” Imperial Journal of

Interdisciplinary Research (IJIR) Vol-2, Issue-6, 2016.

6. Meivel, Dr. R.Maguteeswaran, N.Gandhiraj,

G.Shrinivasan, “Quad copter UAV basedfertilizer and

pestisides spraying system”International Academic

Research Journal of Engineering Sciences, Vol-1, Issue-1,

February-2016,Page no. 8-12

7. O.Guneshwor Singh, “Self Nevigating Quad copter”,

IJCSIT-International Journal of Computer Sciences and

Technologies,Vol-06, 2015,Page no. 2761-2765.

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ISSN 2395-1621 QUADCOPTER USED FOR FERTILIZER …ierjournal.org/pupload/ICIRTE-17/G2.8 ELECTRICAL ready.pdf · ISSN 2395-1621 QUADCOPTER USED FOR ... Controllers (ESCs) which are