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Introduction
Project Overview
• Mission and motivation
• What is Tricoptor
• Tricoptor flight dynamics
• Modeling of Tricoptor
• Major components
• Challenges we faced
• Summary of Components
• Application and uses
• Further implementations
• Testing
• conclusion
Our mission and motivation
• Building with less budget
• less cost-high efficiency
• Reducing over all weight along
With frame and miscellaneous
• DARPA and DARO
WHAT IS TRICOPTOR* It’s an aircraft similar to a helicopter except it has three rotor .
* The beauty of the design is that it derives lift and propulsion from
three sets of horizontally revolving rotors.
* Four helicopter gyros makes the tricopter super stable
We rely on a solid foundation of the
following to allow us to understand the flight
of these machines:-
1. Newtonian Mechanics
2. Bernoulli’ Principle.
Trirotor Dynamics:
pitch = Elevator
Roll = Aileron
Yaw = Rudder
Flight Dynamics
Design using coral software
Modeling
Controller/stabilizer board
IC: Atmega168PAGyro: Murata Piezo
Input Voltage: 3.3-5.5VSignal from Receiver: 1520us (4 channels)
Signal to ESC: 1520us
Brushless dc motor
Kv(rpm/v):1800
Volts:7.4~11.1v
Weight:50g
Poles:12/14
Max.pull:840gms
Max.power:310watts
Major components
Electronic speed controllers propellers
Frame made with glassy proxy sheet Li-Po battery
Major components
RC TRANSMITTER/RECEIVER
Transmitter / Receiver: 2.4GHz
Channels: 6channels
Model type: Heli, Airplane, Glider
RF power: less than 20db/0.8W
Modulation : Frequency Modulation
Code Type :PPM/GFSK
Power: 12V DC
Weight:680g
Low voltage warning: LED warning
Throttle cut
Computer Programmable
USB Socket
Major components
Real Time Components
» Scarcity of components
» Designing of over all frame with less weight
» Hover and Balance functionality
» Combining both the gyro and accelerometer values
» Financial restrictions
» Safety concerns
Challenges we faced
Summary of components
Controller board : kk multicoptor board
Propellers : 3
Brushless dc motors : 3
ESC : 3
Li-Po battery : 1
Aluminum channel : 4mts Rod
Glassy proxy sheet : 2mm
G-locks : 1pak
Gold connectors : 9
Screws and nuts : 1,1/2,1/4,3/4 inches
Radio channel : transmitter and receiver
Weight : 1.8kgs
Flight time : 7 Minutes
Distance : 1 Sq km
APPLICATIONS AND USES
•Military purposes for spying•Aerial surveillance•Rescue purpose•Industrial and commercial purposes•Temperature and pressure measurement•Wireless communications among other UAV’s•For target tracking•For film shootings
Further implementation
>> Additional IR sensors, cameras and wireless technologies like GSM can be added to make the UAV more useful.
>> A camera can be mounted on this UAV since it has a payload capacity of 0.5 kg in tri- rotor mode.
>> GPS for auto landing at the origin
Testing
STAGE 1 : Mechanical design with perfect ‘CG’STAGE 2 : Propellers selection and its rotationSTAGE 3 : Electronic connections/wiringSTAGE 4 : Balancing the tricoptor(major stage of entire project)STAGE 5 : Controlling the transmitter at its bestSTAGE 6 : Programming both stabilizer board and transmitterSTAGE 7 : Gyros setup for kkboard v5.5STAGE 8 : Vertical takeoff and Landing(VTOL)
Final output
conclusionThe capabilities of this design may prove to be asymptotic in nature,
however these may not be realized until proper funding is given and
experimental analysis is conducted. Given the stable platform
produced by this group, further research and development can and
should be done to improve the functionality of our design. This
project has increased our interests in robotics and autonomous design,
knowledge which will serve useful throughout our professional
careers. We feel that this form of thinking and engineering will be
prevalent in the modern world and beyond as new applications are
found which will test the limits of current technologies.
Queries and Feedback are welcome
