Project on qudracopterl

Design and Development of Quad Copter

Department of Production Engineering, K.I.T.'s COEK Page 1

INDEX

SR. NO.

TITLE PAGE NO.

1 ABSTRACT 4 2 INTRODUCTION 6 3 PROJECT OVERVIEW 8 4 SCOPE 10 5 LITERATURE REVIEW 12 6 RECENT DEVELOPMENT 15 7 METHODOLOGY 17 7.1 BASIC MATERIAL 18 7.2 BLOCK DIAGRAM 18 7.3 WORKING PRINCIPLE 19 7.4 MOTOR ROTATION 20 7.5 CIRCUIT DIAGRAM 22 8 MATERIALS 23 8.1 FRAME 24 8.1.1 REASONS TO CHOSE ALUMINUM 25 8.2 MOTOR MOUNT BASE PLATES 27 8.2.1 DESIGN 28 8.3 CENTER PLATE 29 8.3.1 DESIGN 30 8.4 BLDC MOTOR 31 8.4.1 MOTOR DRAWING 32 8.4.2 WORKING PRINCIPLE 32 8.4.3 THRUST CALCULATION 33 8.5 ESC 34 8.5.1 WORKING PRINCIPLE 35 8.6 PROPELLERS 36 8.7 TRANSMITTER 37 8.7.1 TRANSMITTER KEYS &COMBINATION 38 8.8 CAMERA 40 8.8.1 CAMERA ACCESSORIES 41 8.9 FLIGHT CONTROLLER 42 8.10 BATTERY 43 8.11 LANDING GEAR 44 8.11.1 DESIGN 45 9 FLIGHT CONTROLS 46 9.1 MOTIONS 47 9.2 TORQUE 48 9.3 YAW 49 9.4 ROLL 50 9.5 PITCH 51

10 BILL OF MATERIALS 52 11 FUTURE SCOPE AND SUMMARY 54 12 CONCLUSION 57 13 REFERRENCE 59



LIST OF FIGURES

SR. NO.

TITLE PAGE NO.

7.1 WORKING PRINCIPLE - BLOCK DIAGRAM 18 7.2 WORKING PRINCIPLE – RECEIVER & FLIGHT CONTROL 19

7.3.1 MOTION OF MOTORS (TAKEOFF) 20 7.3.2 MOTION OF MOTORS (LANDING) 20 7.3.3 MOTION OF MOTORS (FORWARD) 21 7.3.4 MOTION OF MOTORS (BACKWARD) 22 7.5 CIRCUIT DIAGRAM 23 8.1 ALUMINUM FRAM 25 8.2 MOTOR MOUNT BASE PLATES 27

8.2.1 DESIGN 28 8.3 CENTER PLATES 29

8.3.1 DESIGN 30 8.4 BLDC MOTOR 31

8.4.1 MOTOR DRAWING 32 8.5 ESC 34

8.5.1 WORKING PRINCIPLE – ESC 35 8.6 PROPELLERS 36 8.7 TRANSMITTERS 37

8.7.1 TRANSMITTERS KEYS & COMBINATIONS (RUDDER) 38 8.7.2 TRANSMITTERS KEYS & COMBINATIONS (ELEVATOR) 38 8.7.3 TRANSMITTERS KEYS & COMBINATIONS (AILERON) 39 8.8 CAMERA 40

8.8.1 CAMERA ACCESORIES 41 8.9 FLIGHT CONTROLLER 42 8.10 BATTERY 43 8.11 LANDING GEAR 44

8.11.1 CROSS LEGS DIMENSIONS 45 8.11.2 CROSS LEGS WITH REFERENCE TO FRAME 45

9.1 FLIGHT CONTROL MOTIONS 47 9.2 FLIGHT CONTROL - TORQUE 48 9.3 FLIGHT CONTROL - YAW 49 9.4 FLIGHT CONTROL - ROLL 50 9.5 FLIGHT CONTROL – PITCH 51 12.1 FINAL IMAGE – QUADCOPTER 58



LIST OF TABLES

TABLE

NO.

TABLE NAME PAGE NO.

1 BILL OF MATERIAL 53



1. ABSTRACT



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.

To validate this assumption, my team considered many different UAV designs

before we settled on creating a Quadcopter. The payload of our Quadcopter design

includes a camera and recording of video that will allow us to watch it from the

Quadcopter on a laptop. We have just finished the project but we will continue to

work on the Quadcopter to improve performance and controllability.

Our project has verified that it is possible to build a small-scale Quadcopter

that could be used for both military and commercial use. Our most significant

problems to date have been an ambitious development schedule coupled with very

limited funds. These constraints have forced compromise in components selected and

methods used for prototype development. Currently our Quadcopter has achieved

stable untethered flight as well as autonomous altitude hold. Although there are many

enhancements that we could do to the design, we have proven that it is possible to

produce a small scale UAV that performs functions of interest to the military as well

as commercial/industrial applications.



2. INTRODUCTION



2. INTRODUCTION

Quad copter is an aerial vehicle which is operated to fly independently. It is a

type of a small representation of Unmanned Aerial Vehicle(UAV).A Quad Copter,

also called a Quad rotor helicopter, is a multicopter that is lifted and propelled by four

motors.

Quad Copters are classified as rotorcraft, as opposed to fixed-wing aircraft,

because their lift is generated by a set of revolving motors. Control of vehicle motion

is achieved by altering the rotation rate of one or more rotor discs, thereby changing

its torque load and thrust/lift characteristics.

Summary of goals

Determine a suitable quad copter RC UAV design.

Determine suitable parts and components to be used for the design.

Select a camera system to mount on the quad copter.

Determine a method to Record video to the controller.



3. PROJECT OVERVIEW



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.



4. SCOPE



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.

Scope in present Aerospace Industry -

Quadcopters are uninhabited or unmanned aerial vehicles which are widely

being used in modern aerospace industry. The wide area of operation and high

maneuverability makes quadcopter even more useful. Quadcopters are used in

scientific research, geological survey, aerial photography, weather sensing, spying,

and reconnaissance. Quadcopters are not limited to the above specified practices.

They are light in weight, maneuverable, easy to build, easy to deploy, portable, and

can be extended and optimized as per the specific task.



5. LITERATURE REVIEW



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 steel-

tube 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.



Convertawings Model A Quadrotor (1956) was intended to be the prototype

for a line of much larger civil and military quadrotor helicopters. The design featured

two engines driving four rotors with wings added for additional lift in forward flight.

No tail rotor was needed and control was obtained by varying the thrust between

rotors. Flown successfully many times in the mid-1950s, this helicopter proved the

quadrotor design and it was also the first four-rotor helicopter to demonstrate

successful forward flight. Due to a lack of orders for commercial or military versions

however, the project was terminated. Convertawings proposed a Model E that would

have a maximum weight of 42,000 lb (19,000 kg) with a payload of 10,900 lb (4,900

kg).



6. RECENT DEVELOPMENT



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.

·

AeroQuad is an open-source hardware and software project which utilizes

Arduino boards and freely provides hardware designs and software for the DIY

construction of Quadcopters.

ArduCopter is an open-source multicopter UAV. Based on Arduino, it

supports from four to eight motors, as well as traditional helicopters, and allows fully

autonomous missions as well as RC control.Open Pilot is a model aircraft open-

source software project.

Parrot AR.Drone is a small radio controlled quadcopter with cameras attached

to it built by Parrot SA, designed to be controllable with iOS or Android devices.

Parrot AR.Drone 2.0 carries a HD 720P camera and more sensors, such as altimeter

and magnetometer.



7. METHODOLOGY



7. METHODOLOGY

7.1 BASIC MATERIALS REQUIRED

1. KK Multicopter v 5.1.2

2. Brushless DC Motors

3. 1.2 GHz Transmitter and receiver

4. Electronic Speed Controller

5. Bullet Connectors

6. Propellers

7. Gyroscope

8. Accelerometer

9. A strong base to hold the structure (Frame)

7.2 BLOCK DIAGRAM

Fig. 7.1 Working Principle – Block Diagram



As the figure above clearly shows block diagram as to how the quadcopter

actually works. It can be seen that the micro controller ATMEGA 328 is at the center.

The flight controller includes this MCU ATMEGA 328 which is connected to ESC –

Electronic Speed Controllers.

7.3 WORKING PRINCIPLE

Quadcopter is a device with a intense mixture of Electronics, Mechanical and

works mainly on the principle of Aviation.

The Quadcopter has 4 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 Takeoff motion, Landing motion, Forward motion, Backward motion,

Left motion, Right Motion. )

The rotation of Motors changes as per the transmitted signal send from the 6-

Channel transmitter. The program for which is written in the AT-MEGA 328 chip.

The signal from microcontroller goes to ESC’s which in turn control the speed

of motor.

Fig. 7.2 Working Principle - Receiver and Flight Control



7.4 MOTOR ROTATIONS

Fig. 7.3.1 Working Principle – Motion of Motors (Takeoff)

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.

Fig. 7.3.2 Working Principle – Motion of Motors (Landing)



The direction of motors while in Landing is clearly shown in the figure above. It is

same as that of takeoff motion but here the throttle that is given is negative. It means

that when throttle is decreased gradually, the quadcopter gradually lowers its altitude

and eventually touches ground.

Fig. 7.3.3 Working Principle – Motion of Motors (Forward)

From the figure above, it is clearly understood that when quadcopter is in

forward motion the front motors decreases their speed and rear motors increase their

speed.

The direction of rotation remains the same. It doesn’t get changed whilst in

flight.Now because of this the quadcopter tilts from forward region and the rear

region of the quadcopter gets lifted up. Hence the forward motion takes place.



Fig. 7.3.4 Working Principle – Motion of Motors (Backwards)

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.



7.5 CIRCUIT DIAGRAM

Fig. 7.5 Circuit Diagram



8. MATERIALS



8.1 FRAME

Fig. 8.1 Aluminum 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 length–10 Foot (4 Bar 10 In. each)

Welding – Argon Welding (Udyamnagar)

Landing Gear – 15 cm



8.1.1REASONS TO CHOOSE ALUMINIUM

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.

Aluminum is an excellent electrical conductor though, and therefore adequate

care must be taken to not short out your electronics, or more importantly your Li-

Po.Because it is a homogeneous material three dimensional shapes can be machined

from it as well, something that can't really be done with composites like carbon fiber

or fiberglass.

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, it’s not very strong.



8.2MOTOR MOUNT BASE PLATES

Fig. 8.2 Motor Mount Base Plates

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



8.2.1DESIGN

Fig. 8.2.1 Motor Mount Base Plates Design in CorelDraw



8.3CENTER PLATE

Fig. 8.3Center Plates

Centre Plate Size – 10x10 cm

Quantity – 2

Material – Acrylic

No. of holes – 1 Center, 8 Sides

Design Software – CorelDraw & AutoCAD

Cutting Method – Laser Cutting

Nuts & Bolts – 3x40 mm



8.3.1 DESIGN

Fig. 8.3.1 Center Plate CorelDraw Design



8.4 BLDC Motor

Fig. 8.4 BLDC Motor

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



8.4.1MOTOR DRAWINGS

Fig. 8.4.1 BLDC Motor Drawings

8.4.2WORKING PRINCIPLE – BLDC MOTOR

A brushless motor is constructed with a permanent magnet rotor and wire

wound stator poles. Electrical energy is converted to mechanical energy by the

magnetic attractive forces between the permanent magnet rotor and a rotating

magnetic field induced in the wound stator poles. There are three electromagnetic

circuits connected at a common point.

Each electromagnetic circuit is split in the center, thereby permitting the

permanent magnet rotor to move in the middle of the induced magnetic field. Most

BLDC motors have a three-phase winding topology with star connection. A motor

with this topology is driven by energizing 2 phases at a time.



The static alignment is that which would be realized by creating an electric

current flow from terminal A to B, noted as path 1.The suggested magnetic alignment

is used only for illustration purposes because it is easy to visualize. In practice,

maximum torque is obtained when the permanent magnet rotor is 90 degrees away

from alignment with the stator magnetic field.

8.4.3THRUST CALCULATION

The Thrust we calculated is 850 – 950 grams.Method Used – Digital

Weighing Machine. Setting the digital weighing machine to zero we started the

motors and began revolving in anticlockwise direction.

The reason for anti-clockwise direction is that, we don’t want the Quad to be

lifted in air. Instead, we want it to apply force on weighing machine.So when Quad

Copter applies force on weighing machine, the display unit shows 850- 950 grams on

Full Throttle.



8.5ELECTRONIC SPEED CONTROLLER

Fig. 8.5 Electronic Speed Controller

It has Power requirement of 25 Ampere. ItIncludes Microcontroller and

MOSFET Signal transmitted from transmitter is converted by Pulse Width

Modulation. The working of electronic speed controller is explained below.



8.5.1 WORKING

Fig. 8.5.1 Working – ESC

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 ESC’s causing the

change in the speed of the motors.



8.6 PROPELLERS

8.6 PROPELLERS

Material – Plastic & Nylon Combination

Pitch – 10 X 4.5 (Inch x Pitch)

Quantity – 4

Color Coding –

Orange – Rear

Black – Forward



8.7TRANSMITTER

Fig. 8.7 Transmitter

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)



8.7.1TRANSMITTER KEYS & COMBINATIONS

Fig. 8.7.1 Transmitter Keys & Combinations – Rudder

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.

Fig 8.7.2 Transmitter Keys & Combinations – Elevator



From the figure above it is clearly seen that right joystick in the transmitter is

for Elevator motion in vertical direction ( up and down ). This motion is related with

Roll motion of quadcopter.

Fig. 8.7.3Transmitter Keys & Combinations – Aileron

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.



8.8 CAMERA

Fig. 8.8 Digital Camera - Recording

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



8.8.1 CAMERA ACCESORIES

Fig. 8.8.1 Camera Accessories

The Accessories that are provided with the camera are:

USB charging cable

Portable Camera Charging unit

Neck Hanging Belt



8.9 FLIGHT CONTROLLER

Fig. 8.9 Flight Controller

Manufacturer – Hobby King KK

Version – 2.1.5

Weight: 21 gram

MCU – ATMEGA 328

Gyroscope & Barometer – MPU 6050

Accelerometer – ADXL 35

Auto-level: Yes

It Includes Gyroscope and Accelerometer with hybrid sensors and algorithms.

Gyroscope detects which side is down.Accelerometer accelerates and de-accelerates

motor speed.Flight Controller is used for Auto Stability.



8.10 BATTERY

Fig. 8.10 Li-Po Battery

Type – Li-Po (LithiumPolymer)

12 Volt

3 cells

2.2 Ampere

2200 MAh

Selection Method –

1) 12 Volt for propeller size 10 X 4.5 Inch X Pitch

2) 8 Volt for propeller size 8 X 5 Inch X Pitch

It is to be noted that Thrust is directly proportional to Battery Power Rating.

(Thrust ~ Battery Power)



8.11LANDING GEAR

Fig. 8.11 Landing Gear

For Shock Absorption – Smiley Balls

Material – EPP – High Density Foam

Attachment - Stuck to landing gear (Legs) by Cyanoacrylate

Cross Legs – 4

Angle(Between Horizontal plane and cross legs) – 40 Degrees



8.11.1 DESIGN OF LANDING GEAR

Fig. 8.11.1 Cross legs dimensions

The aluminum bar of 16.5 centimeters is chosen. It is then cut according to the

diagram shown above. This is required for proper balance of quadcopter when it ia on

the ground. The bar is cut from top and bottom side by 1.5 centimeters in 45 degree

angle.

Fig. 8.11.2 Cross legs with reference to frame

The figure 8.10.2 clearly shows the angle between horizontal frame and cross

legs. It is given as 40 degrees. The angle is chosen based on the space requirement for

motor on motor mount base plates and the flight controller and battery at center.



9. FLIGHT CONTROL



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.

Fig. 9.1 Flight control motions



9.2 TORQUE

Fig. 9.2 Flight Control - Torque

Schematic of reaction torques on each motor of a quad copter aircraft, due to

spinning rotors. Rotors 1 and 3 spin in one direction, while rotors 2 and 4 spin in the

opposite direction, yielding opposing torques for control



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.

Fig. 9.3 Flight Control – Yaw



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.

Fig, 9.4 Flight Control – Roll



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.

Fig. 9.5 Flight Controls – Pitch



10.BILL OF MATERIALS



Particulars Qty Specification Function Cost Manufacturer

BLDC

(brushless

DC Motor)

4

930kv,

6000-8000rpm,

12-14volt

Motion to

Propeller

6000

Phantom

ESC

(Electronic

Speed

Control)

1

25A,Contains

Microcontroller,

MOSFET

Speed

Control

Of Dc

Motor

4000

Hobby king

Battery

1

12v,3cell,Li-Po

Power

Supply

2000

Turnigy zippy

Propellers

4

10X4.5 (InchXpitch)

Flight

500

Turnigy

Transmitter

1

6channel,2.4Ghz,range-

1km

Transmit

signal to

flight

controller

5000

Fly sky

Flight

Controller

1

mcu- Atmega 328

Gyroscope MPU6050

Accelerometer

ADXL35

Autopilot

system

with

hybrid

sensors

and

algorithm

6000

KK Board



11. SUMMARY AND

FUTURE WORKS



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.



11.2 DISADVANTAGES

The most significant problem to date have been an ambitious development

schedule coupled with very limited funds. This is followed by complexity in

calculation and designing.

Total Flight time is considerably low because battery available can provide

backup only up to 15 minutes.Without proper permission, flying the Quad may be

considered a crime under “the drone act” , as it violates privacy of other.

11.3 APPLICATIONS – MILITARY

Quadcopter - Unmanned Arial Vehicle are used for surveillance and

reconnaissance by military and law enforcement agencies, as well as search and

rescue missions in urban environments.

One such example is the Aeryon Scout, created by Canadian company Aeryon

Labs, which is a small UAV that can quietly hover in place and use a camera to

observe people and objects on the ground.

The company claims that the machine played a key role in a drug bust in Central

America by providing visual surveillance of a Drug Traffickers compound deep in the

jungle (Aeryon won't reveal the country's name and other specifics).



12. CONCLUSION



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.



13.REFERENCES



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/self-

serve/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/other-

formats/html_single/BTTV.html

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