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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

Wd%,E-. Mumbi /00 012

U"i3e!'ity #$ Mumbi

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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#

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t*e U"i3e!'ity #$ Mumbi i" p!ti% $u%$i%%me"t #$ de+!ee u!'e i"

E%e&t!#"i&'

Ledi"+ t# b&*e%#!

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microcopter consists of four "rushless dc outrunner motors# &his is "ecause it mainlyrequires stationary thrust rather than high speed# &he rotation speed of the motors arecontrolled "y the respecti!e S(electronic speed control#

s the microcopter is controlled wirelessly it also consist of transmitterrecei!er section# 34 transmitter-recei!er using S5(mplitude shift $eying modulation is consideredfor 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 asthe ta$eoff weight at a"out 8000-:00rpm# ccordingly si)e of the propeller is selected#Propellers are a!aila"le in si)e of (10; . ,:; , (10ithium polymer "attery is used to supply power to the microcopter# &hey ha!ea !oltage of 11,1 or 1, #7ormal si)es are 1200mh*20 to :000mh*80"atteries#

&he microcopter can "e successfully applied to applications li$e amera Sur!eillance in

which mo"ile sur!eillance is accomplished using aerial platform# %ther applicationsinclude 3emote olcano Sensing, ir Pollution Sensor (/nner-city, 6icrowa!e a!ity3esonator ,etc#

Department of Electronic Engineering

ACKNOWLEDGEMENT

?e are !ery grateful to numerous indi!iduals for their assistance and

co-operation# ?e can

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?e are especially grateful to our proect guide @r# nali @eshpande for

her !alua"le ad!ice, timely ad!ice and constant support in design of this

proect#

?e are also grateful to our principal 6r#Prashant Sonare and %ur Head

of lectronics @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

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CONTENTS

Sr#7o

Page &itle

Page 7o

1 >ist of figures and ta"les 1

2 /ntroduction

2#1 Helicopter &echnology

2#2 Auadcopter &echnology

2#8 d!antages of Auadcopter &echnologg

2

2

8

8 Basic theory of motors

8#1# Brushed motors and its disad!antages

8#2# Brushless motors

8#8 /nrunners and %utrunners

8# motor specifications

8#:# omparison "etween

Brushed C Brushless 6otors

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

:

D

E

=

9

lectronic speed controller 10

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&ransmitter C 3ece!ier

: Propellers

D Battery

E Principle and %peration

7.1 @iagrammatic 3epresentation of layout

E#2 %peration and flight control

=

Stages of @e!elopment

9 pplications of 6icrocopter

10 onclusion

Department of Electronic Engineering

: &ransmitter C 3ece!ier 12

D Propellers 1:

E Battery 1D

= Principle and %peration

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=#1 @iagrammatic 3epresentation of layout

=#2 %peration and flight control

1E

1=

9 Proect status

9#1 ?or$ planned

9#2 ?or$ completed

20

21

10 pplications of 6icrocopter 22

11 onclusion 28 12 3eferences 2

70 Li't #$ $i+u!e' "d tb%e'

Sr#no# &itle Page no#

1# 4igure of "rushless motor :

2# omparison ta"le' "rushless dc motor !s# "rushed motor D

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8# Bloc$ diagram of transmitter and recei!er 12

# Bloc$ diagram of S5 modulation 18

:# ?a!eform of S5 modulation 1

D# Propellers 1:

E# @iagrammatic representation of microcopter 1E

=# Bloc$ of microcopter 1=

1

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2.0 I"t!#du&ti#"

47 He%ipte! te&*"#%#+y

*e%ipte!is an aircraftthat is liftedand propelled "y one or

more hori)ontalrotors, each rotor consisting of two or more rotor "lades#

Helicopters are classified as rotorcraftor 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 offand

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 landingaircraft, allowing it to accomplish

tas$s that fi.ed-wing aircraft cannot perform#

2.2 =udpte! >Mi&!#pte! te&*"#%#+y

?ud!#t#!, also called a ?ud!#t#! *e%ipte!, 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 liftis 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# ontrol 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 twogenerations 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 systemand

electronic sensorsto 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#

2

http://en.wikipedia.org/wiki/Aircrafthttp://en.wikipedia.org/wiki/Lift_(force)http://en.wikipedia.org/wiki/Horizontal_planehttp://en.wikipedia.org/wiki/Helicopter_rotorhttp://en.wikipedia.org/wiki/Rotorcrafthttp://en.wikipedia.org/wiki/Fixed-wing_aircrafthttp://en.wikipedia.org/wiki/Take_offhttp://en.wikipedia.org/wiki/Landinghttp://en.wikipedia.org/wiki/VTOLhttp://en.wikipedia.org/wiki/Aircrafthttp://en.wikipedia.org/wiki/Helicopter_rotorhttp://en.wikipedia.org/wiki/Rotorcrafthttp://en.wikipedia.org/wiki/Fixed-wing_aircrafthttp://en.wikipedia.org/wiki/Lifthttp://en.wikipedia.org/wiki/Helicopterhttp://en.wikipedia.org/wiki/Angle_of_attackhttp://en.wikipedia.org/wiki/VTOLhttp://en.wikipedia.org/wiki/Unmanned_aerial_vehicleshttp://en.wikipedia.org/wiki/Unmanned_aerial_vehicleshttp://en.wikipedia.org/wiki/Control_systemhttp://en.wikipedia.org/wiki/Sensorhttp://en.wikipedia.org/wiki/Aircrafthttp://en.wikipedia.org/wiki/Lift_(force)http://en.wikipedia.org/wiki/Horizontal_planehttp://en.wikipedia.org/wiki/Helicopter_rotorhttp://en.wikipedia.org/wiki/Rotorcrafthttp://en.wikipedia.org/wiki/Fixed-wing_aircrafthttp://en.wikipedia.org/wiki/Take_offhttp://en.wikipedia.org/wiki/Landinghttp://en.wikipedia.org/wiki/VTOLhttp://en.wikipedia.org/wiki/Aircrafthttp://en.wikipedia.org/wiki/Helicopter_rotorhttp://en.wikipedia.org/wiki/Rotorcrafthttp://en.wikipedia.org/wiki/Fixed-wing_aircrafthttp://en.wikipedia.org/wiki/Lifthttp://en.wikipedia.org/wiki/Helicopterhttp://en.wikipedia.org/wiki/Angle_of_attackhttp://en.wikipedia.org/wiki/VTOLhttp://en.wikipedia.org/wiki/Unmanned_aerial_vehicleshttp://en.wikipedia.org/wiki/Unmanned_aerial_vehicleshttp://en.wikipedia.org/wiki/Control_systemhttp://en.wikipedia.org/wiki/Sensor

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41 Ad3"t+e' #$ =udpte! > 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#

8

http://en.wikipedia.org/wiki/Angle_of_attackhttp://en.wikipedia.org/wiki/Unmanned_aerial_vehicleshttp://en.wikipedia.org/wiki/Angle_of_attackhttp://en.wikipedia.org/wiki/Unmanned_aerial_vehicles

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10 9'i& t*e#!y #$ m#t#!'

17 9!u'*ed m#t#!'

standard "rushed motor is often referred as a cannedmotor# !ery canned

motor consists of the following parts'

A!mtu!e6&he rotating portion of the motor# /t consists of the poles, terminals, andthe commutator#

P#%e'6opper 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"%6Point at which the copper wire of a poll attaches#

C#mmutt#!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 maintainrotation#

9!u'*e'6&a"s in the motor cap that are wired to the "attery and ma$econtact 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 permanentmagnets, of opposite polarity# &his non-rotating portion of the motor isalso 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 plateson the commutator as there are poles on the armature#

?hen the "rushes come in contact with the appropriate plates of the commutator, aparticular pole (electromagnet is charged# ?hen a pole is charged, it is attracted toone 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 timethe pole passes a magnet# ?hen the polarity is switched, the pole is attracted to thene.t magnet in the canwhile "eing repelled "y the one it ust passed# &his processrepeats as long as power is supplied to the motor#

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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 3 motors wor$ on the same principle as "rushed motors, e.cept theelectromagnets(poles are stationary and the permanent magnets are on thespinning portion of the motor#

Since the electromagnets are stationary, there is no need for "rushesF&he electronic speed controller(S ta$es care of switching the !oltage of theelectromagnets#

/tGs important to $now that a "rushless speed controller and a "rushed speedcontroller can "#t"e used interchangea"ly# &hey perform completely different tas$s#

&he quic$est way to tell the difference "etween a &""ed m#t#!and a b!u'*%e''m#t#!is to count the num"er of wire leads# ll "rushless 3 motors ha!e 8 wires#anned motors ha!e 2 wires# &he third wire is used for feed"ac$# Switching any twoof these wires will change the rotation of the motor# :

http://www.hooked-on-rc-airplanes.com/Electronic-speed-controller.htmlhttp://www.hooked-on-rc-airplanes.com/Electronic-speed-controller.html

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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.plaineda"o!e, e.cept the permanent magnets and electromagnets are in oppositepositions#

&he faster a motor spins, the more efficient it is# /nrunner motors turn !ery fast andare much more efficient than outrunner motors# /nrunner "rushless 3 motorsrequire a reducing gear"o. "etween the motor and propeller of your 3 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 thegear"o. shafts are easily "ent# /t can also "e an o"stacle when mounting thegear"o. motor com"ination for your 3 airplane neatly, especially under a cowling#

Out!u""e!'

n #ut!u""e!"rushless motor has the permanent magnets on the #ut'ideof theelectromagnets# the outer hu" holding the permanent magnets has the output shaftattached 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

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D

1/ M#t#! Spe&i$i&ti#"'

(#%t+e C#"'t"t

K3is the (#%t+e C#"'t"t# &his is how many 3P6Gs the motor turns for each!olt applied# ctually, itGs a tad less "ecause e!en "rushless motors arenGt 100efficient#4or e.ample, if you apply 12!olts to a 2005! motor, it will turn at ustunder (12 . 200 200 3P6Gs

T#!?ue C#"'t"t

Ktis the T#!?ue C#"'t"t# 4or all motors, KtB 71>K3#

/n a nut shell, this means the faster the motor spins for a gi!en !oltage (5!, thelower the output torque will "e (5!#

%utrunners generally ha!e a lower 5!, which in turn produces more torque at aslower speed for spinning those larger props# &he opposite is true with inrunners#

N# L#d Cu!!e"t

I#is the N# L#d Cu!!e"t# &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 2mps, then youreally only ha!e 28mps turning the prop#

Te!mi"% Re'i't"&e

Rmis the Te!mi"% Re'i't"&e# &his is the internal resistance of the motormeasured in %hms# &he higher the 3m, the less efficient the motor is#

Cu!!e"t "d P#@e!

&he mimum &u!!e"t "d p#@e!is what determines how large of a prop andwhat 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 willdraw for a gi!en 3P6# 4or e.ample, the 2005! motor will run at 200 3P6Gsregardless of whether it has a 10.D prop or a 11.: prop# But, the 11.: propellers

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

E

1 C#mp!i'#" Tb%e: 9!u'*%e'' DC M#t#! 3' 9!u'*ed DC M#t#!

8etu!e 9LDC M#t#! 9!u'*ed DC M#t#!

C#mmutti#" lectronic commutation "asedon Hall position sensors

Brushed commutation

Mi"te""&e >ess required due to a"senceof "rushes

Periodic maintenance isrequired

Li$e >onger Shorter

Speed>T#!?ueC*!&te!i'ti&'

4lat - na"les operation on allspeeds with rated load

6oderately flat - t higherspeeds, "rush frictionincreases, thus reducing usefultorque

E$$i&ie"&y High - 7o !oltage drop across"rushes

6oderate

Output P#@e!>8!me Sie

High - 3educed si)e due tosuperior thermalcharacteristics# BecauseB>@ has the windings on the

stator, which is connected tothe case, the heat dissipationis "etter

6oderate*>ow - &he heatproduced "y the armature isdissipated in the air gap, thusincreasing the temperature in

the air gap and limiting specson the output power*frame si)e

R#t#! I"e!ti >ow, "ecause it haspermanent magnets on therotor# &his impro!es thedynamic response#

Higher rotor inertia whichlimits the dynamiccharacteristics

Speed R"+e Higher - 7o mechanicallimitation imposed "y"rushes*commutator#

>ower - 6echanical limitations"e the "rushes

E%e&t!i& N#i'e

Ge"e!ti#"

>ow, "ecause it has

permanent magnets on therotor# &his impro!es thedynamic response#

rcs in the "rushes will

generate noise causing 6/ inthe equipment near"y

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C#'t #$ 9ui%di"+ 6oderate - Since it haspermanent magnets, "uildingcost may "e higher# Howe!er,steel C copper prices are up

6oderate - @ue to increases insteel C copper# ( with woundfield stator

=

1F 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$eoff weightof microcopter or quadcopter# Since a tri- or quadrocopter needs mainlystationary thrust and not a high ma.imum speed, its ideal to use slow running,"ig propellers with a low pitch# &o a!oid gear"o.es (weight, clumsy, inefficient,noisy it is highly recommended to use "rushless outrunner motors with a low;$!; (3P6s per !olts, a"out 1000$! are fine rating# &he re!olutions per minuteshould "e in the range of 8000 to :00 when ho!ering#

@ue to a"o!e reasons we are using "rushless outrunners inmicrocopters*quadcopters#

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9

/0 E%e&t!#"i& Speed C#"t!#%%e!

n lectronic speed controller (ESC is what controls how fast the motors turns#&he S plugs into the throttle channel of the recei!er#

&he factors that determine what S 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 -

Si$ewise, electronic speed controllers designed specifically for "rushlessmotors will only wor$ for "rushless motors# &here are a few S

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ll "rushless motors and "rushless S

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11

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

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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!edigital code# /t has carrier frequency of 88#92 6H) and operating range ofaround 100-1:0 meters#

Amp%itude S*i$t Key M#du%ti#"

mplitude-shift $eying (S5 is a form of modulationthat represents digitaldataas !ariations in the amplitudeof a carrier wa!e#

&he amplitude of an analog carrier signal!aries in accordance with the "it stream(modulating signal, $eeping frequency and phaseconstant# &he le!el of

amplitude can "e used to represent "inary logic 0s and 1s# ?e can thin$ of acarrier signal as an %7 or %44 switch# /n the modulated signal, logic 0 isrepresented "y the a"sence of a carrier, thus gi!ing %44*%7 $eying operationand hence the name gi!en#

12

http://en.wikipedia.org/wiki/Modulationhttp://en.wikipedia.org/wiki/Digitalhttp://en.wikipedia.org/wiki/Datahttp://en.wikipedia.org/wiki/Amplitudehttp://en.wikipedia.org/wiki/Carrier_wavehttp://en.wikipedia.org/wiki/Signal_(electrical_engineering)http://en.wikipedia.org/wiki/Frequencyhttp://en.wikipedia.org/wiki/Phase_(waves)http://en.wikipedia.org/wiki/Binaryhttp://en.wikipedia.org/wiki/Modulationhttp://en.wikipedia.org/wiki/Digitalhttp://en.wikipedia.org/wiki/Datahttp://en.wikipedia.org/wiki/Amplitudehttp://en.wikipedia.org/wiki/Carrier_wavehttp://en.wikipedia.org/wiki/Signal_(electrical_engineering)http://en.wikipedia.org/wiki/Frequencyhttp://en.wikipedia.org/wiki/Phase_(waves)http://en.wikipedia.org/wiki/Binary

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>i$e6, S5 is also linear and sensiti!e to atmospheric noise, distortions,propagation conditions on different routes in PS&7, etc# Both S5 modulationand demodulation processes are relati!ely ine.pensi!e# &he S5 technique isalso commonly used to transmit digital datao!er optical fi"er# 4or >@transmitters, "inary 1 is represented "y a short pulse of light and "inary 0 "y thea"sence of light# >aser transmitters normally ha!e a fi.ed I"iasJ current thatcauses 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 thepresence of a carrier wa!e to indicate a "inaryone and its a"sence to indicate a"inary )ero# &his type of modulation is called on-off $eying, and is used atradiofrequenciesto transmit 6orse code(referred to as continuous wa!eoperation#

6ore sophisticated encoding schemes ha!e "een de!eloped which representdata in groups using additional amplitude le!els# 4or instance, a four-le!elencoding scheme can represent two "itswith each shift in amplitudeK an eight-

le!el scheme can represent three "itsK and so on# &hese forms of amplitude-shift$eying require a high signal-to-noise ratiofor their reco!ery, as "y their naturemuch of the signal is transmitted at reduced power#

Here is a diagram showing the ideal model for a transmission system using anS5 modulation

4igure'8 S5 modulation "loc$ diagram#

/n this method the amplitude of the carrier assumes one of the two amplitudesdependent on the logic states of the input "it stream#

http://en.wikipedia.org/wiki/Amplitude_modulationhttp://en.wikipedia.org/wiki/PSTNhttp://en.wikipedia.org/wiki/Digital_datahttp://en.wikipedia.org/wiki/Binary_numeral_systemhttp://en.wikipedia.org/wiki/On-off_keyinghttp://en.wikipedia.org/wiki/Radio_frequencyhttp://en.wikipedia.org/wiki/Radio_frequencyhttp://en.wikipedia.org/wiki/Morse_codehttp://en.wikipedia.org/wiki/Continuous_wavehttp://en.wikipedia.org/wiki/Bithttp://en.wikipedia.org/wiki/Signal-to-noise_ratiohttp://en.wikipedia.org/wiki/File:Ask_ideal_diagram.pnghttp://en.wikipedia.org/wiki/Amplitude_modulationhttp://en.wikipedia.org/wiki/PSTNhttp://en.wikipedia.org/wiki/Digital_datahttp://en.wikipedia.org/wiki/Binary_numeral_systemhttp://en.wikipedia.org/wiki/On-off_keyinghttp://en.wikipedia.org/wiki/Radio_frequencyhttp://en.wikipedia.org/wiki/Radio_frequencyhttp://en.wikipedia.org/wiki/Morse_codehttp://en.wikipedia.org/wiki/Continuous_wavehttp://en.wikipedia.org/wiki/Bithttp://en.wikipedia.org/wiki/Signal-to-noise_ratio

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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 therecei!er the logic 1 and logic 0 conditions can "e recogni)ed uniquely as shownin figure "elow

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

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1

F0 P!#pe%%e!'

propeller is a type of fanwhich transmits power "y con!ertingrotationalmotioninto thrust# pressure difference is produced "etween the forward and rearsurfaces of the airfoil-shaped "lade, and air or water is accelerated "ehind the"lade# pressure difference "etween the forward and rear surfaces of the airfoil-shaped "lade is produced and air or water accelerated "ehind the "lade#Propeller dynamics can "e modeled "y "oth BernoulliGs principleand7ewtonGsthird law#

?e should choose propellers to get the same thrust as the ta$eoff weight at

a"out 8000 to :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; . ,:; , (10

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1:

20 9tte!y

Lit*ium p#%yme! btte!y ,Lip# btte!y-

>ithium-ion polymer "atteries, polymer lithium ion, or more commonly lithiumpolymer "atteries (a""re!iated >i-poly, >i-Pol, >iPo, >/P, P>/ or >iP are

rechargea"le "atteries(secondary cell "atteries# 7ormally "atteries arecomposed of se!eral identical secondary cells in parallel addition to increase thedischarge 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 7iad 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 1, # @epending on our Brushless 6otors we will need a

"igger or smaller "attery# 7ormal si)es are 1200mh*20 to :000mh*80

"atteries#

http://en.wikipedia.org/wiki/Rechargeable_batteryhttp://en.wikipedia.org/wiki/Rechargeable_battery

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1D

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

7 Di+!mmti& Rep!e'e"tti#"

4igure 'E Auadcopter showing direction of each propeller

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s all the propellers are spinning at the same angular !elocity, a yaw sta"ilisingtail rotor li$e the one found on a standard helicopter is not needed# Law isachie!ed "y increasing the torque produced "y a pair of rotating motors eitherthe cloc$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 "eachie!ed separately, simply "y altering the thrust produced "y a pair of motorsand 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 andthe right and left propellers control the roll of the !ehicle#

1E6otors , electronic speed controllers, and "attery are connected as shown "low#

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4igure' = 6icrocopter connections

4 Ope!ti#" "d $%i+*t "t!#%&he 4light ontrol (4 is the main controlling "oard on the quadcopter and allthe necessary sensors and microprocessors used to achie!e and maintain sta"leflight are located on this "oard#

@ue to the nature of the proect a strict power to weight ratio "udget wasdesigned# 4rom initial estimations, ma.imum payload for the !ehicle would "eappro.imately :00-E00 grams# &he motors used in 3 !ehicles !ary greatly so itwas desired to find a light motor with low power consumption# &he mainrequirement was that it pro!ided 1000 rpm M-1# Brushless motor fulfils thespecifications#

Brushless motors are more complicated to operate "ecause they need tochangethe @ supply !oltage of the "attery into a phased (usually threephase with controlled power output so that the speed of the motors can "eaccurately controlled# /n total there are four Brushless ontrollers (B>-trl onefor each motor#

1=

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&o achie!e a !ery sta"le le!el of flight it is desired to change the throttle !alue!ery rapidly (N0#:m#

ontrol of the !ehicle is achie!ed through use of a 34 transmitter and recei!erpair# transmitter with a minimum of four channels is required to control thequadcopter in the !arious planes## &he recei!er demodulates the instructionsgi!en "y the pilot and con!erts them into electrical signals# recei!er with asumming signal is required for the 6i$ro5opter (65# &his signal contains all ofthe channels sent "y the transmitter and is made a!aila"le to the 4 forprocessing#

&he design of the frame is only limited "y one factor' it must "e as light aspossi"le# &he frame designed too$ on a "asic cross shape similar to many opensource proects #

Bearing in mind that the frame must "e lightweight some of the materialsconsidered 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 proect isaluminium 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 lowweight to power ratio so that ma.imum flight time may "e achie!ed# &he differenttypes of "attery considered suita"le for use in 3 !ehicles are' >ithium polymer(>ipo, 7ic$el-cadmium (7id and 7ic$el metal hydride "attery (7i6h# &he >ipotypes are the most ad!anced and offer the most power# &hey are !olatile andmust "e handled with care "ut they can ha!e a capacity of o!er 10,000 mh#7i6h "atteries are a slightly older technology "ut they are still capa"le ofcapacities around :000 mh# 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# 7id"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 "eadded and due to the powerful motors and large propellers the "est weight topower ratio with a high capacity can "e achie!ed using the >ipo "atteries#

&he propellers play a maor 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 "econsidered# @ue to the slow spinning motors a low pitch is desired#

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19

50 P!#;e&t 'ttu'

57 W#!) p%""ed

STAGE I:

@etermining the proect and assessing the a!aila"ility of the components of thehardware 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 PB' PB design is ready, components selected#

STAGE (:

Hardware' &esting C trou"leshootingSoftware' lgorithms finali)ed# oding "egins# ode tested C trou"leshootingsol!ed#

STAGE (I:

ssem"ling the entire proect, testing C trou"leshooting it in entirety#

St+e (II:

nne.ed features of le!els, synchroni)ation and flight control tested andtrou"leshooting sol!ed#

STAGE (III:

ntire unit encompassing all the features is tested C trou"leshooting is sol!ed,proect is ready for display#

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20

54 W#!) C#mp%eted

6icrocopter "asic "loc$ diagram was designed and hence accordinglydetailed research was done

@ifferent designs of microcopter li$e tricopter and quadcopter wer e studiedin detail#

fter thorough research we came to the conclusion that quadcopter designwith four rotors is more sta"le#

omponents and their specifications were decided according to therequirement of the proect#

&heory of "rushless motors and electronic speed controllers (S werestudied#

@ifferent circuits of S were searched and simulated on multisim#

@ifferent motors and propeller com"inations were considered#

&ransmitter and 3ecei!er circuits were decided which uses S5 modulationat frequency 88#92 6H)#

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21

700 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#

7 Cme! Su!3ei%%"&ePossi"ly the most o"!ious use for an aerial platform would "e as a mount for acamera so that it may "e used as a mo"ile sur!eillance de!ice# decision wasmade 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 toattach different de!ices and essentially ena"le the quadcopter to "e used for amultitude of applications#

4 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 toerupt#/t in!ol!es sending a 3adio ontrolled (3 helicopter*microcopter into thecrater of a !olcano and measuring the le!el of !arious gases# &his informationcan then "e processed once the Helicopter returns# &he sensors were the mainreason 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#

1 Ai! P#%%uti#" Se"'#! ,I""e!6&ity-/t was thought that the !ehicle could "e used to na!igate a pre-determined flightpath and measure se!eral air pollutant le!els en route# &he resultingmeasurements could then "e used as an indication of the air pollution in aparticular area of a city# Howe!er, the idea was a"andoned due to a pro"lemwith the measurement sensors i#e they were either "oth large and "ul$y or apassi!e measurement was needed# &he passi!e measurement would once again"e affected "y the mo!ing !ehicle and is usually ta$en o!er a longer period#

/ Mi&!#@3e C3ity Re'#"t#!

n idea putforward "y @r# /an Olo!er a strathclyde lecturer in!ol!ed testing thereflecti!ity of a content in the "oundary layer# &he "oundary layer is the first fewhundred meters a"o!e the earth surface# &he reflecti!ity of air affect thetransmission of radio wa!es# &he proposed method of measurement included"uilding a microwa!e ca!ity resonator# &he resonator cham"er would allow to

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

22

770 C#"&%u'i#"

&he control system demonstrates in simulation that relia"le and controlled flightcan "e achie!ed# &ests ha!e confirmed the functionality and range of wirelesstransmission# &heoretical calculations ha!e determined that the desired amountof lift can "e achie!ed# .perimental tests must "e completed to !erify thesecalculations# complete and thorough test plan has "een pro!ided and can "eused "y su"sequent design teams to complete this proect# &his plan includesassem"ly diagrams and instructions as well as a complete "ill of materials#3eflecting on this proect, it was !ery aggressi!e for a fi!e person design team#&his proect required an e.treme amount of engineering to "e done in a shortamount of time# ?ith respect to this aggressi!e nature of the proect, its status atthis point can "e deemed a mild success# Since we ha!e completed the entirestudy and research required for this proectK our ne.t step would "e to design awor$ing prototype# /t includes "uilding a light weight frame for microcopter,design of electronic speed controller circuit, and and mounting thesecomponents on microcopter frame with motors, "attery and recei!er circuit, andthen performing test flights#

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28

740 Re$e!e"&e'

7 http'**www#mi$ro$opter#de*ucwi$i*en*6i$ro5opter

4 http'**www#quadcopter#org*inde.#php:titleQAuadcopterRHome

1 http'**www#rcgroups#com*forums*showthread#phptQED=11:

/ http'**radiocontrol#wi$ia#com*wi$i*BrushlessRmotor

http'**www#himodel#com*electric*12905R%utrunnerRBrushlessR6otorR&ypeR42=80-9html

F http'**www#rentron#com*rfRremoteRcontrol#htm

2 http'**www#himodel#com*electric*12905R%utrunnerRBrushlessR6otorR&ypeR42=80-9html

http'**mi$ro$opter#de*ucwi$i*5ategorie7ach"auten

5 http'**aeromodelling#nitc#googlepages#com*lin$s

70http'**www#electric-rc-helicopter#com*article*gyroconfusion#php

77 http'**www#anglia#com*newsarchi!e*2D1#asparticleRidQ921

74 http'**www#microchip#com*ParamhartSearch*chart#asp."ranch/@Q=098CmidQ1QenCpage/dQE:

http://www.mikrokopter.de/ucwiki/en/MikroKopterhttp://www.himodel.com/electric/1290KV_Outrunner_Brushless_Motor_Type_FC2830-9T.htmlhttp://www.himodel.com/electric/1290KV_Outrunner_Brushless_Motor_Type_FC2830-9T.htmlhttp://www.rentron.com/rf_remote_control.htmhttp://www.himodel.com/electric/1290KV_Outrunner_Brushless_Motor_Type_FC2830-9T.htmlhttp://www.himodel.com/electric/1290KV_Outrunner_Brushless_Motor_Type_FC2830-9T.htmlhttp://mikrokopter.de/ucwiki/KategorieNachbautenhttp://aeromodelling.nitc.googlepages.com/linkshttp://www.electric-rc-helicopter.com/article/gyroconfusion.phphttp://www.microchip.com/ParamChartSearch/chart.aspx?branchID=8093&mid=14&lang=en&pageId=75http://www.microchip.com/ParamChartSearch/chart.aspx?branchID=8093&mid=14&lang=en&pageId=75http://www.microchip.com/ParamChartSearch/chart.aspx?branchID=8093&mid=14&lang=en&pageId=75http://www.microchip.com/ParamChartSearch/chart.aspx?branchID=8093&mid=14&lang=en&pageId=75http://www.mikrokopter.de/ucwiki/en/MikroKopterhttp://www.himodel.com/electric/1290KV_Outrunner_Brushless_Motor_Type_FC2830-9T.htmlhttp://www.himodel.com/electric/1290KV_Outrunner_Brushless_Motor_Type_FC2830-9T.htmlhttp://www.rentron.com/rf_remote_control.htmhttp://www.himodel.com/electric/1290KV_Outrunner_Brushless_Motor_Type_FC2830-9T.htmlhttp://www.himodel.com/electric/1290KV_Outrunner_Brushless_Motor_Type_FC2830-9T.htmlhttp://mikrokopter.de/ucwiki/KategorieNachbautenhttp://aeromodelling.nitc.googlepages.com/linkshttp://www.electric-rc-helicopter.com/article/gyroconfusion.phphttp://www.microchip.com/ParamChartSearch/chart.aspx?branchID=8093&mid=14&lang=en&pageId=75http://www.microchip.com/ParamChartSearch/chart.aspx?branchID=8093&mid=14&lang=en&pageId=75

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