MICROCOPTER

Submitted by: SURAJ WANKHEDE ROHAN POWALE PRASHANT SANNAKKI SHASHANK CHAUREY JIGNESH MISRTY

Dep !tme"t #$ E%e&t!#"i&'

(idy % ") ! i"'titute #$ te&*"#%#+y W d % ,E-. Mumb i /00 012

U"i3e!'ity #$ Mumb i

4005670

Department of Electronic Engineering

CERTI8ICATE

MICROCOPTER

Submitted by: SURAJ WANKHEDE ROHAN POWALE PRASHANT SANNAKKI SHASHANK CHAUREY JIGNESH MISRTY GUIDED 9Y: PRO8: D!: ANJALI DESHPANDE A p!#;e&t !ep#!t 'ubmitted t#

t*e U"i3e!'ity #$ Mumb i i" p !ti % $u%$i%%me"t #$ de+!ee &#u!'e i" E%e&t!#"i&' Le di"+ t# b &*e%#!<' de+!ee i" e"+i"ee!i"+:

Signature of guide

Head of department

Principal

2009-10

Department of Electronic Engineering

A9STRACT
Historically, helicopters with four rotors (quadrotors ha!e not "een !ery common, mainly "ecause most of the usual payloads could "e lifted using one or two rotors# Howe!er, the quadrotor possesses some special characteristics that ma$e it attracti!e# %ne, of course, is the superior payload capacity# &he other is the simplicity of its control system' (ust "y independently ad(usting the speed of each rotor it is possi"le to control "oth the attitude and the hori)ontal*!ertical motion# &his system is particularly suita"le for small +,-s, "ecause it reduces the mechanical comple.ity of the rotors (sa!ing !olume and weight and simplifies the control algorithms# /n order to "e successful in selecting the appropriate control algorithms it is essential to ha!e a complete understanding of microcopter flight dynamics# &he microcopter relies on standard helicopter theories, although these ha!e "een se!erely modified to account for the particularities of the microcopter#

, microcopter consists of four "rushless dc outrunner motors# &his is "ecause it mainly requires stationary thrust rather than high speed# &he rotation speed of the motors are controlled "y the respecti!e 0S1(electronic speed control # ,s the microcopter is controlled wirelessly it also consist of transmitter2recei!er section# , 34 transmitter-recei!er using ,S5(,mplitude shift $eying modulation is considered for microcopter# 6odulation is carried out using four channels# 7um"er of propellers used are four and they are selected as such to get same thrust as the ta$eoff weight at a"out 8000-9:00rpm# ,ccordingly si)e of the propeller is selected# Propellers are a!aila"le in si)e of (10; . 9,:; , (10<<.8#=; and (12;.8#=; etc# >/P% i#e# >ithium polymer "attery is used to supply power to the microcopter# &hey ha!e a !oltage of 11,1 - or 19,9 -#7ormal si)es are 1200m,h*201 to :000m,h*801 "atteries# &he microcopter can "e successfully applied to applications li$e 1amera Sur!eillance in which mo"ile sur!eillance is accomplished using aerial platform# %ther applications include 3emote -olcano Sensing, ,ir Pollution Sensor (/nner-city , 6icrowa!e 1a!ity 3esonator ,etc#

Department of Electronic Engineering

ACKNOWLEDGEMENT

?e are !ery grateful to numerous indi!iduals for their assistance and co-operation# ?e can<t e.press our gratitude to all those who encouraged, supported and guided us#

?e are especially grateful to our pro(ect guide @r# ,n(ali @eshpande for her !alua"le ad!ice, timely ad!ice and constant support in design of this pro(ect#

?e are also grateful to our principal 6r#Prashant Sonare and %ur Head of 0lectronics @epartment, Prof# Shri$ant -elen$ar for their constant support#

4inally we are than$ful to our staff mem"ers and colleagues for their constant support#

Department of Electronic Engineering

CONTENTS

Sr#7o 1 2

Page &itle >ist of figures and ta"les /ntroduction 2#1 Helicopter &echnology 2#2 Auadcopter &echnology 2#8 ,d!antages of Auadcopter &echnologg

Page 7o 1

2 2 8

Basic theory of motors

9 8#1# Brushed motors and its disad!antages 8#2# Brushless motors 8#8 /nrunners and %utrunners 8#9 motor specifications 8#:# 1omparison "etween Brushed C Brushless 6otors 9 : D E =

8#D# ?hy "rushless outrunner motors are used in 6icrocopterr

0lectronic speed controller

10

9 : D E

&ransmitter C 3ece!ier Propellers Battery Principle and %peration

7.1

@iagrammatic 3epresentation of layout

E#2 %peration and flight control =

Stages of @e!elopment 9 10 ,pplications of 6icrocopter 1onclusion

Department of Electronic Engineering

: D E =

&ransmitter C 3ece!ier Propellers Battery Principle and %peration

12 1: 1D

=#1 @iagrammatic 3epresentation of layout =#2 %peration and flight control 9 Pro(ect status

1E 1=

9#1 ?or$ planned 9#2 ?or$ completed 10 11 12 ,pplications of 6icrocopter 1onclusion 3eferences

20 21 22 28 29

7:0 Li't #$ $i+u!e' "d t b%e' Sr#no#

1# 2#

&itle
4igure of "rushless motor 1omparison ta"le' "rushless dc motor !s# "rushed motor

Page no# : D

8# 9# :# D# E# =#

Bloc$ diagram of transmitter and recei!er Bloc$ diagram of ,S5 modulation ?a!eform of ,S5 modulation Propellers @iagrammatic representation of microcopter Bloc$ of microcopter

12 18 19 1: 1E 1=

2.0

I"t!#du&ti#"
4:7 He%i&#pte! te&*"#%#+y

, *e%i&#pte! is an aircraft that is lifted and propelled "y one or more hori)ontal rotors, each rotor consisting of two or more rotor "lades# Helicopters are classified as rotorcraft or rotary-wing aircraft to distinguish them from fi.ed-wing aircraft "ecause the helicopter achie!es lift with the rotor "lades which rotate around a mast# &he primary ad!antage of a helicopter is from the rotor which pro!ides lift without the aircraft needing to mo!e forward, allowing the helicopter to ta$e off and land !ertically without a runway# 4or this reason, helicopters are often used in congested or isolated areas where fi.ed-wing aircraft cannot ta$e off or land# &he lift from the rotor also allows the helicopter to ho!er in one area more efficiently than other forms of !ertical ta$eoff and landing aircraft, allowing it to accomplish tas$s that fi.ed-wing aircraft cannot perform#
2.2

=u d&#pte! >Mi&!#&#pte! te&*"#%#+y

, ?u d!#t#!, also called a ?u d!#t#! *e%i&#pte!, is an aircraft that is lifted and propelled "y four rotors# Auadrotors are classified as rotorcraft, as opposed to fi.ed-wing aircraft, "ecause their lift is deri!ed from four rotors# &hey can also "e classified as helicopters, though unli$e standard helicopters, quadrotors are a"le to use fi.ed-pitch "lades, whose angle of attac$ does not !ary as the "lades rotate# 1ontrol of !ehicle motion can "e achie!ed "y !arying the relati!e speed of each rotor to change the thrust and torque produced "y each# Here e.ist two generations of quadrotor designs# &he first generation quadrotors were designed to carry one or more passengers# &hese !ehicles were among the first successful hea!ier-than-air !ertical ta$e off and landing (-&%> !ehicles# Howe!er, early prototypes suffered from poor performance, and latter prototypes required too much pilot wor$ load, due to poor sta"ility augmentation# &he more recent generation of quadrotors are commonly designed to "e unmanned aerial !ehicles (+,-s # &hese !ehicles use an electronic control system and electronic sensors to sta"ili)e the aircraft# ?ith their small si)e and agile maneu!era"ility, these quadrotors can "e flown indoors as well as outdoors#

4:1

Ad3 "t +e' #$ =u d&#pte! > mi&!#&#pte! te&*"#%#+y

&he ad!antages of the current generation of quadrotors, !ersus compara"ly scale helicopters, are as follows# 4irst, quadrotors do not require mechanical lin$ages to !ary rotor angle of attac$ as they spin# &his simplifies the design of the !ehicle, and reduces maintenance time and cost# Second, the use of four rotors allows each indi!idual rotor to ha!e a smaller diameter than the equi!alent helicopter rotor, for a gi!en !ehicle si)e, allowing them to store less $inetic energy during flight# &his reduces the damage caused should the rotors hit any o"(ects# 4or small scale +,-s, this ma$es the !ehicles safer to interact with in close pro.imity# 4inally, "y enclosing the rotors within a frame, the rotors can "e protected during collisions, permitting flights indoors and in o"stacle-dense en!ironments, with low ris$ of damaging the !ehicle, its operators, or its surroundings#

1:0

9 'i& t*e#!y #$ m#t#!'

1:7 9!u'*ed m#t#!' , standard "rushed motor is often referred as a canned motor# 0!ery canned motor consists of the following parts' A!m tu!e6 &he rotating portion of the motor# /t consists of the poles, terminals, and the commutator# P#%e'6 1opper wires wound around a piece of metal forming an electromagnet# &he poles are attached to the armature# 6ost motors ha!e 8 or more poles Te!mi" %6 Point at which the copper wire of a poll attaches# C#mmut t#!6 , switch on the armature that re!erses the current to the poles e!ery 1*2 rotation so that the magnetic fields of each will always maintain rotation# 9!u'*e'6 &a"s in the motor cap that are wired to the "attery and ma$e contact with the plates on the commutator as the armature rotates# M +"et'6 &he outer shell (or can of the motor is lined with two permanent magnets, of opposite polarity# &his non-rotating portion of the motor is also referred as the motor stator# &he "attery is wired directly to the "rushes# &he "rushes ma$e contact with the plates of the commutator as the motor turns# &here are the same num"er of plates on the commutator as there are poles on the armature# ?hen the "rushes come in contact with the appropriate plates of the commutator, a particular pole (electromagnet is charged# ?hen a pole is charged, it is attracted to one of the magnets in the can and repelled "y the other# &he commutator acts as a switch "y switching the polarity of each pole e!ery time the pole passes a magnet# ?hen the polarity is switched, the pole is attracted to the ne.t magnet in the can while "eing repelled "y the one it (ust passed# &his process repeats as long as power is supplied to the motor#

Di' d3 "t +e' #$ 9!u'*ed M#t#!'

&he "rushes and commutator wear out &he "rushes and commutator must "e cleaned periodically 4riction from the "rushes slow the motor down 4riction from the "rushes lead to shorter flight times and "attery life# 4riction from the "rushes cause lower power to weight ratio
3.2 9!u'*%e'' m#t#!'

4igure'1 "rushless motor Brushless 31 motors wor$ on the same principle as "rushed motors, e.cept the electromagnets(poles are stationary and the permanent magnets are on the spinning portion of the motor# Since the electromagnets are stationary, there is no need for "rushesF &he electronic speed controller(0S1 ta$es care of switching the !oltage of the electromagnets# /tGs important to $now that a "rushless speed controller and a "rushed speed controller can "#t "e used interchangea"ly# &hey perform completely different tas$s# &he quic$est way to tell the difference "etween a & ""ed m#t#! and a b!u'*%e'' m#t#! is to count the num"er of wire leads# ,ll "rushless 31 motors ha!e 8 wires# 1anned motors ha!e 2 wires# &he third wire is used for feed"ac$# Switching any two of these wires will change the rotation of the motor# :

3.3

I"!u""e! "d #ut!u""e!'

&here are two types of "rushless motors# I"!u""e!'

/nrunner "rushless motors are set up !ery similar to the canned motor e.plained a"o!e, e.cept the permanent magnets and electromagnets are in opposite positions# &he faster a motor spins, the more efficient it is# /nrunner motors turn !ery fast and are much more efficient than outrunner motors# /nrunner "rushless 31 motors require a reducing gear"o. "etween the motor and propeller of your 31 airplane# 4or this reason, the output speed and torque of the propeller can easily "e ;t@e )ed; to facilitate different flying characteristics "y using different si)e gears# &he downside is added parts that can and do fail# &he gears get stripped, and the gear"o. shafts are easily "ent# /t can also "e an o"stacle when mounting the gear"o. motor com"ination for your 31 airplane neatly, especially under a cowling# Out!u""e!' ,n #ut!u""e! "rushless motor has the permanent magnets on the #ut'ide of the electromagnets# the outer hu" holding the permanent magnets has the output shaft attached in the center#

Out!u""e!'

I"!u""e!'

>ow 3P6Gs, high torque >ess efficient than inrunners 7o gear"o. required 7arrow prop selection Silent

High 3P6Gs, low torque 6ore efficient than outrunners 3equire a gear"o. ?ide prop selection 7oisy

1:/ M#t#! Spe&i$i& ti#"' (#%t +e C#"'t "t K3 is the A(#%t +e C#"'t "tA# &his is how many 3P6Gs the motor turns for each !olt applied# ,ctually, itGs a tad less "ecause e!en "rushless motors arenGt 100H efficient#4or e.ample, if you apply 12!olts to a 2005! motor, it will turn at (ust under (12 . 200 2900 3P6Gs T#!?ue C#"'t "t Kt is the AT#!?ue C#"'t "tA# 4or all motors, KtB 71CC>K3# /n a nut shell, this means the faster the motor spins for a gi!en !oltage (5! , the lower the output torque will "e (5! # %utrunners generally ha!e a lower 5!, which in turn produces more torque at a slower speed for spinning those larger props# &he opposite is true with inrunners# N# L# d Cu!!e"t I# is the AN# L# d Cu!!e"tA# &his is the amount of current it ta$es to spin the motor with no prop# 4or e.ample, if your motor is pulling 2:,mps, and the /o is 2,mps, then you really only ha!e 28,mps turning the prop# Te!mi" % Re'i't "&e Rm is the ATe!mi" % Re'i't "&eA# &his is the internal resistance of the motor measured in %hms# &he higher the 3m, the less efficient the motor is# Cu!!e"t "d P#@e! &he m Dimum &u!!e"t "d p#@e! is what determines how large of a prop and what si)e plane can "e used with the motor# Simply multiply the current "y the "attery !oltage to get power# &he larger the propellerGs diameter and pitch, the more current the motor will draw for a gi!en 3P6# 4or e.ample, the 2005! motor will run at 2900 3P6Gs regardless of whether it has a 10.D prop or a 11.: prop# But, the 11.: propellers

cause the motor to draw more current# @rawing too much current will destroy the motor# E

1:C

C#mp !i'#" T b%e: 9!u'*%e'' DC M#t#! 3' 9!u'*ed DC M#t#! 9LDC M#t#! 9!u'*ed DC M#t#! 0lectronic commutation "ased Brushed commutation on Hall position sensors >ess required due to a"sence Periodic maintenance is of "rushes required >onger Shorter 4lat - 0na"les operation on all 6oderately flat - ,t higher speeds with rated load speeds, "rush friction increases, thus reducing useful torque High - 7o !oltage drop across 6oderate "rushes High - 3educed si)e due to 6oderate*>ow - &he heat superior thermal produced "y the armature is characteristics# Because dissipated in the air gap, thus B>@1 has the windings on the increasing the temperature in stator, which is connected to the air gap and limiting specs the case, the heat dissipation on the output power*frame si)e is "etter >ow, "ecause it has Higher rotor inertia which permanent magnets on the limits the dynamic rotor# &his impro!es the characteristics dynamic response# Higher - 7o mechanical >ower - 6echanical limitations limitation imposed "y "e the "rushes "rushes*commutator# >ow, "ecause it has ,rcs in the "rushes will permanent magnets on the generate noise causing 06/ in rotor# &his impro!es the the equipment near"y dynamic response#

8e tu!e C#mmut ti#" M i"te" "&e Li$e Speed>T#!?ue C* ! &te!i'ti&'

E$$i&ie"&y Output P#@e!> 8! me SiEe

R#t#! I"e!ti

Speed R "+e

E%e&t!i& N#i'e Ge"e! ti#"

C#'t #$ 9ui%di"+

6oderate - Since it has 6oderate - @ue to increases in permanent magnets, "uilding steel C copper# ( with wound cost may "e higher# Howe!er, field stator steel C copper prices are up

1:F

W*y b!u'*%e'' #ut!u""e!' !e u'ed i" mi&!#&#pte!

&he choice of the motor models hea!ily depends on purpose and ta$eoff weight of microcopter or quadcopter# Since a tri- or quadrocopter needs mainly stationary thrust and not a high ma.imum speed, its ideal to use slow running, "ig propellers with a low pitch# &o a!oid gear"o.es (weight, clumsy, inefficient, noisy it is highly recommended to use "rushless outrunner motors with a low ;$!; (3P6s per !olts, a"out 1000$! are fine rating# &he re!olutions per minute should "e in the range of 8000 to 9:00 when ho!ering# @ue to a"o!e reasons we are using "rushless outrunners in microcopters*quadcopters#

/:0

E%e&t!#"i& Speed C#"t!#%%e!

,n 0lectronic speed controller (ESC is what controls how fast the motors turns# &he 0S1 plugs into the throttle channel of the recei!er# &he factors that determine what 0S1 to use include the type of motor you ha!e, the si)e of the motor, and the type of "atteries# Se%e&ti#" #$ M#t#! , 9!u'*%e'' #! C ""ed 0S1<s designed specifically for "rushed motors will only wor$ with "rushed motors# >i$ewise, electronic speed controllers designed specifically for "rushless motors will only wor$ for "rushless motors# &here are a few 0S1<s that are designed to wor$ with "oth# , "rushed 0S1 simply turns the !oltage on and off !ery rapidly(se!eral times a second # &o increase the speed, the 0S1 increases the amount of time that the !oltage is on while decreasing the amount of time that the !oltage is off# &his is called IchoppingJ the !oltage# &o slow the motor down, this process is re!ersed# &he "rushes on a "rushed motor determine how the electromagnets are energi)ed to $eep the motor spinning# , "rushless 0S1 has the added tas$ of determining how each pole needs to "e energi)ed at any gi!en time to $eep the motor spinning# &he "rushless 0S1 needs to ha!e feed "ac$ from the motor in order to perform this tas$# &he "rushes on a "rushed motor are in a fi.ed position relati!e to the permanent magnets# ?hen the armature rotates, the "rushes contact the plates of the commutator at the perfect spot each re!olution to $eep the motor turning# ?ithout feed"ac$, the 0S1 on a "rushless motor has no idea where the permanent magnets are in relation to the electromagnets(poles #

,ll "rushless motors and "rushless 0S1<s ha!e three wires# %nly two of the three wires are energi)ed "y the 0S1 at any gi!en time# &he pole that is not energi)ed (coasting will actually generate a small amount of !oltage that is proportional to how fast the motor is turning# &his small !oltage is used "y the 0S1 to determine how fast and in what direction the motor is turning at any gi!en time# SiEe #$ m#t#! 0lectronic speed controllers are rated for a ma.imum current# &he more current an 0S1 is rated for, the more e.pensi!e and hea!ier it will "e# 1hoose an electronic speed controller that is rated for slightly more than what your motor will pull at full throttle# &oo much current will damaged an electronic speed controller !ery quic$ly# 10 9 tte!y E%imi" t#! Ci!&uit ,9EC &he motor requires much more power than the recei!er and speed controller# , "attery eliminator circuit (B01 con!erts the !oltage from the motor "attery to a lower !oltage for the recei!er and 0S1# &his eliminates the need for a separate low !oltage "attery for the recei!er and 0S1# &he B01 also senses when the "attery is getting low and cuts power to the motor while allowing the ser!os to function for a safe landing# &he B01 is usually incorporated circuit "oard of the 0S1 for small to medium si)e electric airplanes# >arge 31 airplanes that require larger !oltages to power the motor will require a stand-alone B01, which is called a !oltage regulator#

11

C:0

R8 t! "'mitte! G !e&ei3e!

4igure'2 transmitter and recei!er "loc$ diagram

8#u! &* ""e% ASK t! "'mitte! "d !e&ei3e! Special ,S5 transmitter and recei!er modules are used to transmit and recei!e digital code# /t has carrier frequency of 988#92 6H) and operating range of around 100-1:0 meters# Amp%itude S*i$t Key M#du% ti#" ,mplitude-shift $eying (,S5 is a form of modulation that represents digital data as !ariations in the amplitude of a carrier wa!e# &he amplitude of an analog carrier signal !aries in accordance with the "it stream (modulating signal , $eeping frequency and phase constant# &he le!el of amplitude can "e used to represent "inary logic 0s and 1s# ?e can thin$ of a carrier signal as an %7 or %44 switch# /n the modulated signal, logic 0 is represented "y the a"sence of a carrier, thus gi!ing %44*%7 $eying operation and hence the name gi!en#
12

>i$e ,6, ,S5 is also linear and sensiti!e to atmospheric noise, distortions, propagation conditions on different routes in PS&7, etc# Both ,S5 modulation and demodulation processes are relati!ely ine.pensi!e# &he ,S5 technique is also commonly used to transmit digital data o!er optical fi"er# 4or >0@ transmitters, "inary 1 is represented "y a short pulse of light and "inary 0 "y the a"sence of light# >aser transmitters normally ha!e a fi.ed I"iasJ current that causes the de!ice to emit a low light le!el# &his low le!el represents "inary 0, while a higher-amplitude light wa!e represents "inary 1# &he simplest and most common form of ,S5 operates as a switch, using the presence of a carrier wa!e to indicate a "inary one and its a"sence to indicate a "inary )ero# &his type of modulation is called on-off $eying, and is used at radio frequencies to transmit 6orse code (referred to as continuous wa!e operation # 6ore sophisticated encoding schemes ha!e "een de!eloped which represent data in groups using additional amplitude le!els# 4or instance, a four-le!el encoding scheme can represent two "its with each shift in amplitudeK an eightle!el scheme can represent three "itsK and so on# &hese forms of amplitude-shift $eying require a high signal-to-noise ratio for their reco!ery, as "y their nature much of the signal is transmitted at reduced power# Here is a diagram showing the ideal model for a transmission system using an ,S5 modulation

4igure'8 ,S5 modulation "loc$ diagram# /n this method the amplitude of the carrier assumes one of the two amplitudes dependent on the logic states of the input "it stream#

18

, typical output wa!eform of an ,S5 modulator is shown in the figure "elow# &he frequency components are the +SB and >SB with a residual carrier frequency# &he low amplitude carrier is allowed to "e transmitted to ensure that at the recei!er the logic 1 and logic 0 conditions can "e recogni)ed uniquely as shown in figure "elow

4igure '9 ,mplitude Shift 5ey 6odulation wa!eforms

19

F:0 P!#pe%%e!'
, propeller is a type of fan which transmits power "y con!erting rotational motion into thrust# , pressure difference is produced "etween the forward and rear surfaces of the airfoil-shaped "lade, and air or water is accelerated "ehind the "lade# , pressure difference "etween the forward and rear surfaces of the airfoilshaped "lade is produced and air or water accelerated "ehind the "lade# Propeller dynamics can "e modeled "y "oth BernoulliGs principle and 7ewtonGs third law# ?e should choose propellers to get the same thrust as the ta$eoff weight at a"out 8000 to 9:00 3P6s# /f propellers are too small, the 3P6s will "e too high, and efficiency and payload weight suffers# ,lso, flight time will decrease significantly, "ecause of too high current consumption# /f propellers are too "ig, the ho!ering 3P6s are too low, so flight sta"ility suffers## Propellers are a!aila"le in si)e of (10; . 9,:; , (10<<.8#=; and (12;.8#=; etc#/f we ha!e a good motor on a light frame then we can also use 8 "lade propellers#

4igure': two "lade propeller

4igure'D &hree "lade propeller

1:

2:0 9 tte!y
Lit*ium p#%yme! b tte!y ,Lip# b tte!y>ithium-ion polymer "atteries, polymer lithium ion, or more commonly lithium polymer "atteries (a""re!iated >i-poly, >i-Pol, >iPo, >/P, P>/ or >iP are rechargea"le "atteries (secondary cell "atteries # 7ormally "atteries are composed of se!eral identical secondary cells in parallel addition to increase the discharge current capa"ility# ,s "atteries usually >ithium-Polymer "atteries or >iPos are used# &hese types of "atteries differ from other types "y a light weight com"ined with high capacity# Handling these "atteries is not without any danger, so some rules ha!e to "e $ept in mind# &hese types need a special $ind of charger, "ecause the charging procedure differs a lot from other types (li$e 7i1ad and 7i6h # &he cells should not "e o!ercharged, neither should they "e unloaded to deeply# &o $eep the charge difference "etween cells to a minimum, a "alancer must "e used# &his "alancer might "e integrated in the charger, or a separate "alancer should "e attached to the charger# ,ll >iPo-pac$s ha!e a connector for a "alancer# 4or a Auadcopter >iPo-pac$s with three or four cells are used# &hey ha!e a !oltage of 11,1 - or 19,9 -# @epending on our Brushless 6otors we will need a "igger or smaller "attery# 7ormal si)es are 1200m,h*201 to :000m,h*801 "atteries#

1D

H:0 P!i"&ip%e "d Ope! ti#"

H:7 Di +! mm ti& Rep!e'e"t ti#"

4igure 'E Auadcopter showing direction of each propeller

,s all the propellers are spinning at the same angular !elocity, a yaw sta"ilising tail rotor li$e the one found on a standard helicopter is not needed# Law is achie!ed "y increasing the torque produced "y a pair of rotating motors either the cloc$wise pair or the anti-cloc$wise pair and decreasing the torque produced "y the other pair# Similarly the pitch of the rotors need not "e altered# /nstead, mo!ements in the pitch (forward*"ac$ward and roll (left*right a.es can "e achie!ed separately, simply "y altering the thrust produced "y a pair of motors and all this can "e done without affecting the yaw of the !ehicle# &he front and rear propellers control the pitch of the !ehicle while in flight and the right and left propellers control the roll of the !ehicle#

1E

6otors , electronic speed controllers, and "attery are connected as shown "low#

4igure' = 6icrocopter connections H:4 Ope! ti#" "d $%i+*t &#"t!#% &he 4light 1ontrol (41 is the main controlling "oard on the quadcopter and all the necessary sensors and microprocessors used to achie!e and maintain sta"le flight are located on this "oard# @ue to the nature of the pro(ect a strict power to weight ratio "udget was designed# 4rom initial estimations, ma.imum payload for the !ehicle would "e appro.imately :00-E00 grams# &he motors used in 31 !ehicles !ary greatly so it was desired to find a light motor with low power consumption# &he main requirement was that it pro!ided 1000 rpm -M-1# , Brushless motor fulfils the specifications# Brushless motors are more complicated to operate "ecause they need to changethe @1 supply !oltage of the "attery into a phased ,1 (usually three phase with controlled power output so that the speed of the motors can "e accurately controlled# /n total there are four Brushless 1ontrollers (B>-1trl one for each motor#
1=

&o achie!e a !ery sta"le le!el of flight it is desired to change the throttle !alue !ery rapidly (N0#:m # 1ontrol of the !ehicle is achie!ed through use of a 34 transmitter and recei!er pair# , transmitter with a minimum of four channels is required to control the quadcopter in the !arious planes## &he recei!er demodulates the instructions gi!en "y the pilot and con!erts them into electrical signals# , recei!er with a summing signal is required for the 6i$ro5opter (65 # &his signal contains all of the channels sent "y the transmitter and is made a!aila"le to the 41 for processing# &he design of the frame is only limited "y one factor' it must "e as light as possi"le# &he frame designed too$ on a "asic cross shape similar to many open source pro(ects # Bearing in mind that the frame must "e lightweight some of the materials considered include' aluminium , car"on fi"er or polystyreneK it is possi"le to ha!e a com"ination of these# &he most cost effecti!e material for this pro(ect is aluminium or wood "ecause it is readily a!aila"le and cheap# &he "atteries needed to power all the on"oard electronics ha!e to ha!e a low weight to power ratio so that ma.imum flight time may "e achie!ed# &he different types of "attery considered suita"le for use in 31 !ehicles are' >ithium polymer (>ipo , 7ic$el-cadmium (7i1d and 7ic$el metal hydride "attery (7i6h # &he >ipo types are the most ad!anced and offer the most power# &hey are !olatile and must "e handled with care "ut they can ha!e a capacity of o!er 10,000 m,h# 7i6h "atteries are a slightly older technology "ut they are still capa"le of capacities around :000 m,h# Howe!er if a poor quality of "attery is purchased then "ad cells can de!elop quic$ly when the capacity is increased# 7i6h "atteries are cheaper than >ipo "atteries and are also less !olatile# 7i1d "atteries are the cheapest o!erall and ha!e similar characteristics to that of 7i6h "ut are una"le to achie!e an equal capacity# , decent flying time is desired to test the software and hardware which will "e added and due to the powerful motors and large propellers the "est weight to power ratio with a high capacity can "e achie!ed using the >ipo "atteries# &he propellers play a ma(or role on the ta$eoff weight and the speed that the !ehicle will fly at# &he diameter of the propellers as well as their pitch must "e considered# @ue to the slow spinning motors a low pitch is desired#

19

5:0 P!#;e&t 't tu'

5:7 W#!) p% ""ed

STAGE I: @etermining the pro(ect and assessing the a!aila"ility of the components of the hardware C deciding upon the feasi"le software for the purpose# STAGE II: Procurement of literature C literature re!iew# STAGE III: Hardware' @esigning the circuit diagrams Software' @esigning "asic flowcharts C algorithms# STAGE I(: 4inali)ing the "asic design of the hardware @esigning the P1B' P1B design is ready, components selected# STAGE (: Hardware' &esting C trou"leshooting Software' ,lgorithms finali)ed# 1oding "egins# 1ode tested C trou"leshooting sol!ed# STAGE (I: ,ssem"ling the entire pro(ect, testing C trou"leshooting it in entirety# St +e (II: ,nne.ed features of le!els, synchroni)ation and flight control tested and trou"leshooting sol!ed# STAGE (III: 0ntire unit encompassing all the features is tested C trou"leshooting is sol!ed, pro(ect is ready for display#

20

5:4

W#!) C#mp%eted

6icrocopter "asic "loc$ diagram was designed and hence accordingly detailed research was done: @ifferent designs of microcopter li$e tricopter and quadcopter were studied in detail# ,fter thorough research we came to the conclusion that quadcopter design with four rotors is more sta"le# 1omponents and their specifications were decided according to the requirement of the pro(ect# &heory of "rushless motors and electronic speed controllers (0S1 were studied# @ifferent circuits of 0S1 were searched and simulated on multisim# @ifferent motors and propeller com"inations were considered# &ransmitter and 3ecei!er circuits were decided which uses ,S5 modulation at frequency 988#92 6H)#

21

70:0 App%i& ti#"'

, num"er of options were considered as a possi"le applications for quadcopter "elow is a list of some of the applications in!estigated and the reason why they were eliminated# 7I C me! Su!3ei%% "&e Possi"ly the most o"!ious use for an aerial platform would "e as a mount for a camera so that it may "e used as a mo"ile sur!eillance de!ice# , decision was made to "uild the quadcopter*microcopter for use as a platform for a camera which would "e wireless# &he standardi)ed connection could then "e used to attach different de!ices and essentially ena"le the quadcopter to "e used for a multitude of applications# 4I Rem#te (#%& "# Se"'i"+ ,ndrew 6cOonigle, a Scottish scientist wor$ing for the +ni!ersity of Sheffield, has de!eloped a no!el means for determining whether or not a !olcano is due to erupt#/t in!ol!es sending a 3adio 1ontrolled (31 helicopter*microcopter into the crater of a !olcano and measuring the le!el of !arious gases# &his information can then "e processed once the Helicopter returns# &he sensors were the main reason this idea was a"andoned# &hey were found to "e too e.pensi!e and there was nowhere to test the !ehicle i#e# a local acti!e !olcano# 1I Ai! P#%%uti#" Se"'#! ,I""e!6&ity/t was thought that the !ehicle could "e used to na!igate a pre-determined flight path and measure se!eral air pollutant le!els en route# &he resulting measurements could then "e used as an indication of the air pollution in a particular area of a city# Howe!er, the idea was a"andoned due to a pro"lem with the measurement sensors i#e they were either "oth large and "ul$y or a passi!e measurement was needed# &he passi!e measurement would once again "e affected "y the mo!ing !ehicle and is usually ta$en o!er a longer period#

/I Mi&!#@ 3e C 3ity Re'#" t#! ,n idea put forward "y @r# /an Olo!er a strathclyde lecturer in!ol!ed testing the reflecti!ity of a content in the "oundary layer# &he "oundary layer is the first few hundred meters a"o!e the earth surface# &he reflecti!ity of air affect the transmission of radio wa!es# &he proposed method of measurement included "uilding a microwa!e ca!ity resonator# &he resonator cham"er would allow to

pass through it and "y testing the capacitance of the air the reflecti!ity could "e determined# &he rotating propellers posed a pro"lem "ecause they would force air pass the ca!ity thus affecting the measurement# , different method was to acti!ely monitor the temperature and humidity of the surrounding air and perform a calculation using the two !aria"les# &he pro"lem with this is o"taining an /nstantaneous and accurate measurement of the humidity# %nce again the rotating "lades would affect the measurement
22

77:0 C#"&%u'i#"
&he control system demonstrates in simulation that relia"le and controlled flight can "e achie!ed# &ests ha!e confirmed the functionality and range of wireless transmission# &heoretical calculations ha!e determined that the desired amount of lift can "e achie!ed# 0.perimental tests must "e completed to !erify these calculations# , complete and thorough test plan has "een pro!ided and can "e used "y su"sequent design teams to complete this pro(ect# &his plan includes assem"ly diagrams and instructions as well as a complete "ill of materials# 3eflecting on this pro(ect, it was !ery aggressi!e for a fi!e person design team# &his pro(ect required an e.treme amount of engineering to "e done in a short amount of time# ?ith respect to this aggressi!e nature of the pro(ect, its status at this point can "e deemed a mild success# Since we ha!e completed the entire study and research required for this pro(ectK our ne.t step would "e to design a wor$ing prototype# /t includes "uilding a light weight frame for microcopter, design of electronic speed controller circuit, and and mounting these components on microcopter frame with motors, "attery and recei!er circuit, and then performing test flights#

28

74:0 Re$e!e"&e'

7: 4: 1: /: C: F: 2:

H: 5: http'**aeromodelling#nitc#googlepages#com*lin$s 70: http'**www#electric-rc-helicopter#com*article*gyroconfusion#php 77: http'**www#anglia#com*newsarchi!e*2D1#aspParticleRidQ921 74: http'**www#microchip#com*Param1hartSearch*chart#asp.P

"ranch/@Q=098CmidQ19QenCpage/dQE:

http'**www#mi$ro$opter#de*ucwi$i*en*6i$ro5opter http'**www#quadcopter#org*inde.#php:PtitleQAuadcopterRHome http'**www#rcgroups#com*forums*showthread#phpPtQED=11: http'**radiocontrol#wi$ia#com*wi$i*BrushlessRmotor http'**www#himodel#com*electric*12905-R%utrunnerRBrushlessR6otorR&ypeR412 =80-9&#html http'**www#rentron#com*rfRremoteRcontrol#htm http'**www#himodel#com*electric*12905-R%utrunnerRBrushlessR6otorR&ypeR412 =80-9&#html http'**mi$ro$opter#de*ucwi$i*5ategorie7ach"auten