International Journal of Mechanical And Production Engineering, ISSN: 2320-2092, Volume- 4, Issue-5, May.

-2016

DESIGN AND CONTROL IMPLEMENTATION OF QUADCOPTER

1
SRAVAN KUMAR N, 2RAM KISHORE SANKARALINGAM
1,2
School of Mechanical & Building Sciences,
VIT University, Chennai Campus, Tamilnadu,India.
E-mail: sravankumarnukala@gmail.com

Abstract— Quadcopter has extremely developed in the area of research due to its flexibility of takeoff and range of uses.
Being simple, small, and cost effective quadcopter is gaining advantage in various applications. The need for Un-manned
Aerial Vehicles (UAV) in various fields such as industries, military, nuclear power plant, space exploration, disaster rescue
etc. has improved its usage. In this paper quadcopter was modelled and the frame was analyzed for an optimum load.
Mathematical modelling & simulation of the system using matlab for stability analysis was conducted. In order to obtain
desired response and stability, a tuned PID controller parameters were utilized.

Keywords— Quadcopter, Modelling, Simulation, Stability Analysis.

I. INTRODUCTION II. EXPERIMENTAL DEVICE

For past one decade, several research were conducted Generally, a quadcopter comprises offour arms and
on quadcopter for various applications extending four motors for lifting. Motors are connected to the
from military to traffic surveillance [1]. Automatic ESC (Electronic Speed Controller)for varying
controlling of quadcopter can be implemented by itsspeed. These ESC’s are connected to KK2.1.5
sensor based obstacle detection. This can be controller board which is connected to the fly sky
doneusing ultrasonic and infrared (IR) sensors. Based receiver. The flysky receiver gets signal from RC
on the sensor feedback the motor speed was varied Transmitter (Radio Controller) which is controlled
for direction change to avoid obstacle. An effective manually. Four ultrasonic sensors are connected to
feedback can help us obtain flawless hovering [2, 3, Arduino and programmed for detecting obstacle in all
and 4].The control is also possible using inputs from four directions. When an obstacle is detected the
cameras. The live video datacaptured can be given to quadcopter takes the other path and hover by varying
the computer. The output signals obtained from the the motor speed.Fig 1 shows the block diagram of the
computer, controls the RC transmitter to avoid components and connections used in the experimental
obstacles [5]. Navigation system can also be device. Table 1 shows the specifications of
incorporated to the Quadcopter for continuous components that was used for creating this particular
hovering without any manual input (direction quadcopter.
control)[6]. Drones (quadcopter)controlled through
satellites can be used in security applications for Fig 1: Block diagram
border and territory surveillance which provides extra
safety for citizens. It can also detect earthquakes and
tsunami to avoid severe fatality [7]. For civil
applications, quadcopter is used to survey the areas
where human intervention is not applicable [8].
Computer aided design (CAD) modelling and static
analysis for quadcopter is necessary to obtain an
effective design. Software like Solidworks, Catia etc.
can be used for this purpose[9].
Generally, quadcopter faces problem with balancing
due to uneven weight distribution and atmospheric air
flow. This problem can be avoided, using PID
controllerby feeding relevant proportional, integral
and differential inputs to the output device
(motor)[10, 11, 12].

In this paper, a computer aided design modelling for

the drone’s frame was done and static analysis is
performed to ensure the frame’s ability to withstand
the copter’s load. Also, a matlab simulation was
executed using PID controller to ensure the effective
operation of the Drone.

Design and Control Implementation of Quadcopter

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International Journal of Mechanical And Production Engineering, ISSN: 2320-2092, Volume- 4, Issue-5, May.-2016

Table 1: Component specifications compressive loads makes them more attractive.

Among the fibers being used for composites, glass
fiber has good number of advantages such as high
temperature resistance, high tensile strength, cost
effectiveness and less flammability. Hence glass fiber
was chosen as frame material for quadcopter.
For analysis, the weight of motor, battery, ESC and
controller boards were considered. Also components
like fasteners, wires and adhesive tapes which
contributes minor loading were also considered.Table
2 shows the weights of different components in
quadcopter.

Table 2: Weights of quadcopter components

As stated in literatures the quadcopter modelling was

done using solidworks. Fig 2 shows the quadcopter
model done based on the exact dimensions.

Fig 3 shows the von – mises stress obtained when the

frame was subjected to the respective loads specified
in table. The maximum and minimum stress obtained
was found to be within the material’s safest limit.

Fig 2: Quadcopter modelling

III. RESULTS AND DISCUSSION

Initially, the quadcopter frame was modelled and

subjected to static analysis. After confirming the
stability, glass fiber was suggested to be an effective
material for the drone’s frame. A mathematical
modelling and simulation using a PID controller was
performed using matlabto confirm the effective
running.

3.1 Static Analysis

For a quadcopter, the frame is the main load bearing
component. It has to be subjected to static analysis to
ensure the reliability of quadcopter. Generally, metals
has good stability and used in wide range of
applications. In spite of advantages their usages are
limited to airborne applications due to excess weight. Von Mises Stress (Min-Max): 9.03N/m2 – 71031.6N/m2
Excess weight results in unwanted loads which Fig3: Von-mises stress
reduces the performance and efficiency of any
airborne vehicles. Fig 4 shows the displacement obtained when the
Nowadays, composite materials are gaining frame was subjected under respective loads specified
advantage because of its good stability and less in table 2. The maximum displacement was found to
weight. Their ability to bear high tensile and be very feeble (0.002mm).

Design and Control Implementation of Quadcopter

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International Journal of Mechanical And Production Engineering, ISSN: 2320-2092,
Displacement (Min- Max): 0mm- 0.0206mm
Fig 4: Displacement
3.2 Mathematical modelling
The circuit diagram used for the mathematical
modelling is as shown in fig5. The moment of inertia
of the quadcopter was calculated as Ixx= 387785477.4
mm4, Iyy= 389850789.9 mm4 and Izz= 777636267.2
mm4.
3.2.1. Circuit diagram explanation
This controller system consists of a closed loop
system with Quadcopter position control in the
outermost loop and motor speed control in the inner
most loop. A part from this PID Controller is
cascaded to the speed control loop. PID Controller is
tuned to linearize the plant so as to achieve stability
in position control. The system performance
parameters for stable operation are specified in Table.
5
Fig 5: Closed loop PID Controller Circuit
The tuned and the block parameters obtained at the
stable operation of the quadcopter was shown in
table5.
Design and Control Implementation of Quadcopter
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Volume- 4, Issue-5, May.-2016
Table 5: Controller Parameters
3.3 Simulation
The graphs obtained during the simulation is as
shown below. The simulation was conducted for 3
cases. In case1. A closed loop non tuned response for
angular displacement was studied. In case2. A closed
loop tuned response for angular displacement was
studied. In Case3. A tuned response for angular
acceleration was studied.
3.3.1. Closed loop not tuned Response of Angular
Displacement (Ɵ)
The graph for closed loop non tuned response for
angular displacement is not steady during flight. It
was observed to be oscillating in non- uniform
manner.
Displacement vs Time
3.3.2. Closed loop Tuned Response of Angular
displacement (Ɵ)
The graph for closed loop tuned response for angular
displacement is not steady during starting due to over
shoot, rise time and settling time whereas it gets
settled after certain time.
International Journal of Mechanical And Production Engineering, ISSN: 2320-2092, Volume- 4, Issue-5, May.-2016

 Glass fiber can be used as the frame material

for reliable use of quadcopter.
 Using PID Controller the uneven disturbances
are minimized and stable operation was
obtained.
The above conclusions can be an initiative for
further investigations in quadcopter.

ACKNOWLEDGMENT

I hereby sincerely thank the faculties of VIT

University for their continuous support in fulfillment
of project requirements.

REFERENCES
Displacement vs Time
3.3.3. Closed loop Tuned Response of Angular
Acceleration(α)
The graph for closed loop tuned response for angular
acceleration is said to attain peak during sudden full
throttle. But the use of PID Controller has made it to
be steady after some time by decreasing the
acceleration suddenly and making it stable(Constant
acceleration).
Angular Acceleration vs Time
CONCLUSION
Quadcopter is becoming prevalent worldwide.
Various research on this device were performed to
make it efficient and effective.From this work the
following conclusions were obtained.
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