HeavyLift Multirotor forMedium Altitude Science Platform

Multirotor platform forCansat Deployment

Jaeyoung Lim

Seoul National University

Contents• Introduction to Multirotors

• Dynamics• System Layout• Motor Dynamics• Performance Estimation

• Cansat Deployment• Heavy Lift Multirotor

Introduction to Multirotors

Flight control using multiple rotors

Current IssuesBanned out of line-of-sight flights for small unmanned aerial vehicles for the safety of conventional air traffic

System Layout

Flight Controller

Receiver

Motor Driver

Motor

Battery

Design Agenda

Motor Selection ESC Selection Battery SelectionDefineMission

Motor Dynamics• Kv Value (Speed Constant)

• Theoretical Thrust

NTM Prop Drive Series 42-38 750kv / 785w

How much Power? How much Voltage?

ESC

ElectricSpeed

ControllerBattery Motor

PWM

Vcc

GND

• Performance is defined in terms of Amps• Maximum Current needed is defined by the motor

• Usually 3S Lipo is used for small multirotors, 4S Lipo is used for large multirotors

Performance Estimation

Assumption

1.

2. Thrust Ratio shall be bigger than at least 2, bigger than 2.5 is ideal

Linear assumption

Flight Controller• Controls Attitude of the aircraft

• Autonomous flight (Optional)• Camera Gimbals• SONAR Sensors• Various Flight Modes

KK.2 Flight Controller MultiWii DJI Naza

ArduPilot

Flight Modes (APM)• Stabilize• Alt Hold• Loiter ( & OF_Loiter )• RTL• Auto

• Aco• Sport• Drift• Guided• Circle• Position• Land• FollowMe• Simple & Super Simple

Ground Station

Mission PlannerQCGround Control