© 2014 Tom Paulus Photo: Wolf Paulus
Getting Started with MultiCopters
Wolf Paulus@wolfpaulus http://wolfpaulus.com
Tom Paulus@tompaulus http://tompaulus.com
© 2014 Tom Paulus
© 2014 Tom Paulus
What is a MultiCopter?
© 2014 Tom Paulus
Build Vs. Buy
How Do I Get One?
HUBSAN X4 H107C-HD Quadcopter with 2MP VideoUS$ 65
© 2014 Tom Paulus
Build vs Buy
© 2014 Tom Paulus
Frame Shape
© 2014 Tom Paulus
© 2014 Tom Paulus
© 2014 Tom Paulus
Flight Controller
• The MOST important component on your craft
• Translates your inputs into changes in the motor speeds
• There are 3 different classes of Flight Controller to choose from
© 2014 Tom Paulus
Auto-Level Only
KK 2.1 $30
Acro Naze 32 $25
Flip 1.5 $16*
*Does NOT include the case
© 2014 Tom Paulus
Altitude Holding
Flip 1.5 $22* **
Naze 32 $52
**With the addition of the Pimp Your Flip Board ($7) *Does NOT include the case
© 2014 Tom Paulus
GPS with AutoPilot Capabilities
ArduPilot $300
DJI Naza Lite
$175
© 2014 Tom Paulus
Motors• RPM is measured in kV
• 1 kV is 1 revolution per volt
• Measure of the dimension of the
stator
• For Example, 2212 980kV Motors Photo: rcexplorer.se
© 2014 Tom Paulus
PropsLets take a 10x4.5 Prop for Example
10 x 4.5
Diameter of the Prop
Pitch of the Prop
© 2014 Tom Paulus
ESCsElectronic Speed Controller
Connects your Motors to your Battery and Flight Controller
Motor
Battery
ESC
Flight Controller
Photo: HobbyKing
© 2014 Tom Paulus
BatteriesVoltage
• 4s+ - High Voltage App. • 3S -11.1V (Most Common) • 2S - 7.4V
AmperageMeasured in C (Capacities)
Diagram: Traxxas
© 2014 Tom Paulus
Now What?
© 2014 Tom Paulus
Mobius GoPro Camcorder DSLR
39g Camera: 74g (2.6oz) w/housing: 136g (4.8oz) approx. 350g approx. 1500g
Payload
© 2014 Tom Paulus
Payload Influencers
• Frame Type • All-up Weight (without the camera) • Battery (3.7V per LiPO cell) • ESC (Max Amperage) • Motor • Propeller (Length and Pitch)
© 2014 Tom Paulus
But how much power is needed to turn a propeller at a certain speed?
Bob Boucher’s Electric Motor Handbook states that the following formula works well for most two-bladed propellers:
• Propeller constant of APC propeller is 1.11 • Propeller diameter in feet = 10 * 0.0833 = 0.83 • Propeller pitch in feet = 4.5 * 0.0833 = 0.37 • Estimated RPM = 9000 / 1000 = 9
Power required to spin the propeller = 1.11 * 0.83^4 * 0.37 * 9^3 = 144 Watts
1 x4.5 APC props a. 9 rpm
w = Kp × d4 × Pitch ×RPM3
© 2014 Tom Paulus
• 3 Rotors 10 x 4.5 • 2500 mAh 3 Cell Battery • Motors 980 rpm/V Motors • 1000g All-up Weight
• Mixed Flight Time 7.7 min • Hover Flight Time 11 min • Hover at 49% Throttle input • Possible Payload 493 g • Max Speed 25.5 mph
Baseline
120 W 100 F
© 2014 Tom Paulus
• 3 Rotors 10 x 4.5 • 2500 mAh 4 Cell Battery • Motors 980 rpm/V Motors • 1000g All-up Weight
• Mixed Flight Time 8.1 min • Hover Flight Time 14 min • Hover at 28% Throttle input • Theo. Payload 1300 g • Max Speed 38.5 mph
4 Cell Battery
225 W 127 F
© 2014 Tom Paulus
• 3 Rotors 11 x 4.5 • 2500 mAh 3 Cell Battery • Motors 980 rpm/V Motors • 1000g All-up Weight
• Mixed Flight Time 7.8 min • Hover Flight Time 12 min • Hover at 38% Throttle input • Possible Payload 812 g • Max Speed 26.7 mph
11’ Propeller
144 W 109 F
© 2014 Tom Paulus
• 3 Rotors 10 x 4.5 • 2500 mAh 3 Cell Battery • Motors 980 rpm/V Motors • 1000g All-up Weight
• Mixed Flight Time 7.7 min • Hover Flight Time 11 min • Hover at 49% Throttle input • Possible Payload 493 g • Max Speed 25.5 mph
Baseline
120 W 100 F
© 2014 Tom Paulus
• 3 Rotors 10 x 4.5 • 2500 mAh 3 Cell Battery • Motors 980 rpm/V Motors • 1350g All-up Weight
• Mixed Flight Time 5.6 min • Hover Flight Time 7 min • Hover at 72% Throttle input • Possible Payload 143 g • Max Speed 14.9 mph
Payload
120 W 100 F
© 2014 Tom Paulus
Transmitter
© 2014 Tom Paulus
TransmitterAltitude
© 2014 Tom Paulus
TransmitterForward
Backward
© 2014 Tom Paulus
Right
Transmitter
Left
© 2014 Tom Paulus
Transmitter
SpinRight
SpinLeft
© 2014 Tom Paulus
Questions?
© 2014 Tom Paulus
SummaryWe looked at…
- Do I Build or Buy?
- Various Components Essential to your Copter
- What kind of payloads you can carry
© 2014 Tom Paulus
Demo
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