THE DEVELOPMENT OF TRANSMITTER AND RECEIVER FOR REMOTE CONTROL HELICOPTER

LIM FANG PANG B051310013

UNIVERSITI TEKNIKAL MALAYSIA MELAKA 2017

THE DEVELOPMENT OF TRANSMITTER AND RECEIVER FOR

REMOTE CONTROL HELICOPTER

This report is submitted in accordance with requirement of the University Teknikal

Malaysia Melaka (UTeM) for Bachelor Degree of Manufacturing Engineering

(Robotics & Automation) (Hons.)

by

LIM FANG PANG

B051310013

920327-01-6357

FACULTY OF MANUFACTURING ENGINEERING

2017

Disahkan oleh:

_____________________________ ______________________________

Alamat Tetap: Cop Rasmi: _____________________________ _____________________________ _____________________________

Tarikh: _______________________ Tarikh: _______________________

*Jika Laporan PSM ini SULIT atau TERHAD, sila lampirkan surat daripada pihak berkuasa/organisasi berkenaan dengan menyatakan sekali sebab dan tempoh laporan PSM ini perlu dikelaskan sebagai SULIT atau TERHAD.

UNIVERSITI TEKNIKAL MALAYSIA MELAKA

BORANG PENGESAHAN STATUS LAPORAN PROJEK SARJANA MUDA

Tajuk: THE DEVELOPMENT OF TRANSMITTER AND RECEIVER FOR REMOTE CONTROL HELICOPTER

Sesi Pengajian: 2016/2017 Semester 2 Saya LIM FANG PANG (920327-01-6357) mengaku membenarkan Laporan Projek Sarjana Muda (PSM) ini disimpan di Perpustakaan Universiti Teknikal Malaysia Melaka (UTeM) dengan syarat-syarat kegunaan seperti berikut: 1. Laporan PSM adalah hak milik Universiti Teknikal Malaysia Melaka dan penulis. 2. Perpustakaan Universiti Teknikal Malaysia Melaka dibenarkan membuat salinan

untuk tujuan pengajian sahaja dengan izin penulis. 3. Perpustakaan dibenarkan membuat salinan laporan PSM ini sebagai bahan

pertukaran antara institusi pengajian tinggi. 4. *Sila tandakan (√)

(Mengandungi maklumat yang berdarjah keselamatan atau kepentingan Malaysiasebagaimana yang termaktub dalam AKTA RAHSIA RASMI 1972)

(Mengandungi maklumat TERHAD yang telah ditentukan oleh organisasi/ badan di mana penyelidikan dijalankan)

SULIT

TERHAD

TIDAK TERHAD

DECLARATION

I hereby, declared this report entitled ―The Development of Transmitter and Receiver for

Remote Control Helicopter‖ is the results of my own research except as cited in reference.

Signature : …………………………………

Author‘s Name : LIM FANG PANG

Date : 22 JUNE 2017

APPROVAL

This report is submitted to the Faculty of Manufacturing Engineering of Universiti

Teknikal Malaysia Melaka as a partial fulfilment of the requirements for the degree of

Bachelor of Manufacturing Engineering (Robotics & Automation) (Hons.).

The member of the supervisory is as follow:

…………………………………

(Principal Supervisor) - Signature & Stamp

i

ABSTRAK

Tujuan projek ini adalah untuk membangunkan pemancar dan penerima untuk helikopter

kawalan jauh. Pertama sekali, jenis helikopter yang telah digunakan adalah sebuah nitro

helikopter kawalan jauh dengan nama jenamanya "KYOSHO", dan bahagian-bahagian

kawalan untuk helikopter ini adalah terhad untuk 4 hingga 6 saluran. Dalam projek ini,

jenis teknologi tanpa wayar yang telah dipilih ialah komunikasi frekuensi radio. Kemudian,

proses pembangunan boleh dibahagikan kepada dua bahagian utama iaitu pembangunan

litar dan pembangunan program. Pembangunan litar adalah sebahagian untuk menerangkan

bagaimana litar pemancar dan penerima yang dibangunkan dengan menggunakan perisian

Fritzing. Manakala bagi pembangunan program, ia adalah bahagian yang digunakan untuk

menerangkan bagaimana pengaturcaraan untuk pemancar dan penerima yang dibangunkan

dengan menggunakan perisian Arduino (IDE). Selain itu, carta aliran untuk semua

pengaturcaraan juga telah dimasukkan untuk menerangkan bagaimana program ini

berfungsi. Projek ini melibatkan dua bahagian pengujian, iaitu ujian pemasangan motor

servo dan ujian jarak penghantaran data. Bagi ujian pemasangan motor servo, pergerakan

untuk setiap motor servo telah diperhatikan supaya dapat diperiksa sama ada

sambungannya adalah betul atau salah berdasarkan setiap saluran tertentu. Manakala bagi

ujian jarak penghantaran data, pemancar dan penerima telah diuji untuk menentukan

maksimum jarak penghantarannya. Berdasarkan keputusan yang diperolehi daripada ujian

jarak penghantaran data, jarak maksimum untuk pemancar dan penerima buatan sendiri

adalah sehingga 120 meter, manakala jarak penghantaran adalah hanya 80 meter untuk

pemancar dan penerima yang sedia ada. Walau bagaimanapun, pemancar dan penerima

yang sedia ada adalah lebih bagus kerana ia boleh digunakan untuk mengawal kapal

terbang dan sistem helikopter. Akhir sekali, cadangan untuk kerja-kerja masa depan adalah

dengan meningkatkan pemancar dan penerima buatan sendiri supaya dapat berfungsi

sehingga 6 saluran, menstabilkan fungsi penghantaran data dengan menambah kapasitor,

dan juga menstabilkan voltan bekalan dengan menambah pengatur voltan.

ii

ABSTRACT

The aim of this project is to develop the transmitter and receiver for the remote control

helicopter. Firstly, the type of helicopter that has been used is a nitro remote control

helicopter with the brand name of ―KYOSHO‖, and the control parts for this helicopter are

limited for only 4 to 6 channels. In this project, the type of wireless technology that has

been selected is the radio frequency communication. Then, the development process can be

divided into two main parts which are the circuit development and the program

development. The circuit development is a part used to explain on how the circuits for

transmitter and receiver are developed by using the Fritzing software. While for the

program development, it is a part used to explain on how the programming for the

transmitter and receiver are developed by using the Arduino Software (IDE). Besides that,

the flowcharts for all of the programming are also included to explain on how the program

works. This project involves with two testing parts, which are the servo motors setup test

and the data transmission range validation. For the servo motors setup test, the movement

of each servo motor has been observed to check whether the connection is right or wrong

based on each particular channel. While for the data transmission range validation, the

transmitter and receiver has been tested to determine their maximum transmission range.

Based on the results obtained from data transmission range validation, the maximum range

was up to about 120 meters for the homemade transmitter and receiver, while the

transmission range was only 80 meters for the existing transmitter and receiver. However,

the existing transmitter and receiver are more sustainable since it can be used to control the

airplane and the helicopter system. Lastly, the suggestions for the future works are to

upgrade the homemade transmitter and receiver to function up to 6 channels, stabilize the

function of data transmission by adding the bypass capacitor, and also stabilize the voltage

supply by adding the voltage regulator.

iii

DEDICATION

This report is dedicated to my lovely parents who always been there to support me,

congratulate me, and show me always the best path to follow. Also, I sincerely grant my

highest gratitude to my project supervisor, panels, technicians, and friends who always

provide me with helpful guidance and direction for my project.

iv

ACKNOWLEDGEMENT

First and foremost, I would like to take this opportunity to express my sincere gratitude to

my lovely parents who gave me much moral support and blessing during the project

completion period. Next, I would like to give a special thanks to my respected supervisor,

Dr. Ruzaidi bin Zamri who has been so patience to give me a lot of helpful guidance and

direction in the project development process. Then, my fervent thank to all my three panels,

Prof. Dr. Bashir Mohamad bin Bali Mohamad, Dr. Mohd Hisham bin Nordin, and Dr.

Muhammad Hafidz Fazli bin Md. Fauadi, for giving me some helpful advices during the

final year project presentation. Last but not least, I would like to show my appreciation to

all my best friends who gave me much motivation and suggestion throughout this project.

Finally, I would like to thank everyone who has been contributed to my project, as well as

expressing my apology that I could not mention personally each of you here.

v

TABLE OF CONTENTS

Abstrak I

Abstract ii

Dedication iii

Acknowledgement iv

Table of Contents v

List of Tables viii

List of Figures ix

List of Abbreviations xi

List of Symbols xiii

CHAPTER 1: INTRODUCTION

1.1 Background of the Study 1

1.2 Problem Statement 2

1.3 Objectives 3

1.4 Scopes 3

1.5 Summary 3

CHAPTER 2: LITERATURE REVIEW

2.1 Fundamental of Wireless Communication 4

2.2 Radio Waves Propagation 6

2.3 Type of Wireless Transmission 7

2.3.1 RF Module Transmission 7

2.3.2 IR Wireless Transmission 8

2.3.3 Bluetooth Wireless Transmission 10

2.3.4 Wi-Fi Wireless Transmission 11

2.4 Transmitter for Remote Control Devices 12

2.5 Receiver for Remote Control Devices 14

2.6 Features of Arduino Uno 15

vi

2.7 Summary 16

CHAPTER 3: METHODOLOGY

3.1 Introduction 17

3.2 General Flowchart of Project Methodology 17

3.3 Literature Review 18

3.4 Planning 20

3.4.1 Hardware Requirement 21

3.4.1.1 Arduino Uno Microcontroller 21

3.4.1.2 RF Transceiver 22

3.4.1.3 Joystick 24

3.4.1.4 Breadboard 26

3.4.1.5 Push Button Switch 27

3.4.1.6 Capacitor 28

3.4.1.7 LED 28

3.4.1.8 Resistor 29

3.4.1.9 Jumper Wires 30

3.4.1.10 Servo Motor 31

3.4.1.11 Battery 31

3.4.1.12 Battery Holder 32

3.4.2 Software Requirement 33

3.4.2.1 Arduino Software (IDE) 33

3.5 Bill of Materials 34

3.6 Development 36

3.6.1 Circuit Development 38

3.6.1.1 Transmitter Circuit 38

3.6.1.2 Receiver Circuit 40

3.6.2 Program Development 42

3.6.2.1 Programming for Transmitter Part 42

3.6.2.2 Programming for Receiver Part 45

3.7 Testing and Analysis 48

3.7.1 Servo Motors Setup Test 49

3.7.2 Data Transmission Range Validation 50

3.8 Summary 50

vii

CHAPTER 4: RESULT AND DISCUSSION

4.1 Servo Motors Setup Test 51

4.1.1 Results Obtained for Homemade Transmitter and Receiver 51

4.1.2 Results Obtained for Existing Transmitter and Receiver 52

4.2 Data Transmission Range Validation 54

4.2.1 Results Obtained for Homemade Transmitter and Receiver 54

4.2.2 Results Obtained for Existing Transmitter and Receiver 58

4.3 Discussion 60

4.4 Comparison between the Homemade and the Existing Transmitter 61

and Receiver

4.5 Summary 62

CHAPTER 5: CONCLUSION AND RECOMMENDATIONS

5.1 Conclusion 63

5.2 Recommendations 64

5.3 Sustainability 65

5.4 Life-Long Learning 65

REFERENCES 66

APPENDICES

Appendix A Project Gantt Chart for FYP 1 & 2 70

Appendix B Gap Analysis 71

Appendix C Arduino Programming for One Channel 76

Appendix D Arduino Programming for Two Channels 80

Appendix E Arduino Programming for Three Channels 84

Appendix F Arduino Programming for Four Channels 88

viii

LIST OF TABLES

3.1 The list of the components needed and their prices 34

4.1 The servo motors setup test for each of the channel controlled by the 52

homemade transmitter

4.2 The servo motors setup test for each of the channel controlled by the 53

existing transmitter

4.3 The range validation results obtained for the homemade transmitter 54

and receiver

4.4 The range validation results obtained for the existing transmitter and 59

receiver

4.5 Comparison between the homemade and the existing transmitter and 61

receiver

ix

LIST OF FIGURES

1.1 The fundamental of radio waves transmission 2

2.1 The distance coverage for frequency ranges 5

2.2 Remote control system block diagram for the aircraft model 8

2.3 The indoor system concept for wireless infrared communication 9

2.4 Non-directional infrared radiation for wireless indoor access to 10

local-area networks

2.5 The family of IEEE802.11 standard 12

2.6 The block diagram for the proposed receiver 15

3.1 The general flowchart of project methodology 18

3.2 The steps for literature review flowchart 19

3.3 The flowchart in project planning process 20

3.4 Arduino Uno microcontroller 22

3.5 NRF24L01 transceiver module 23

3.6 The pin description for NRF24L01 transceiver module 24

3.7 Dual-axis XY joystick module 25

3.8 The pin description for dual-axis XY joystick module 26

3.9 Half size 400 tie-points solderless breadboard 27

3.10 Momentary ON/OFF push button switch 27

3.11 10μF capacitor with voltage rating of 16V 28

3.12 5mm red LED 29

3.13 470Ω resistor 29

3.14 Male-to-male jumper wires 30

3.15 Male-to-female jumper wires 30

3.16 Futaba S3003 servo motor 31

x

3.17 9V Energizer battery 32

3.18 9V battery holder 32

3.19 The flowchart of the project development process 36

3.20 The developed transmitter circuit by using Fritzing software 39

3.21 The developed receiver circuit by using Fritzing software 41

3.22 The first part of the programming for transmitter 42

3.23 The second part of the programming for transmitter 43

3.24 The working flows for the programming on the transmitter part 44

3.25 The first part of the programming for receiver 45

3.26 The second part of the programming for receiver 46

3.27 The working flows for the programming on the receiver part 47

3.28 The flowchart for the testing and analysis process 48

4.1 The transmission range versus the number of testing for MIN level 55

4.2 The transmission range versus the number of testing for LOW level 56

4.3 The transmission range versus the number of testing for HIGH level 56

4.4 The transmission range versus the number of testing for MAX level 57

4.5 The average transmission range versus the level of transmission 58

4.6 The transmission range versus the number of testing 59

xi

LIST OF ABBREVIATIONS

AC - Alternative Current

BS - Base Station

CCW - Counter Clockwise

CMOS - Complementary Metal Oxide Semiconductor

CW - Clockwise

DC - Direct Current

DSSS - Direct-Sequence Spread-Spectrum

ELF - Extremely Low Frequency

FCC - Federal Communications Commission

FHSS - Frequency Hopping Spread Spectrum

FYP - Final Year Project

GND - Ground

ICSP - In-Circuit Serial Programming

IDE - Integrated Development Environment

IEEE - Institute of Electrical and Electronics Engineers

IF - Intermediate Frequency

IR - Infrared Radiation

ISM - Industrial, Scientific, and Medical

LED - Light Emitting Diode

LOS - Line-of-Sight

MAS - Multiple Address System

MAX - Maximum

MIN - Minimum

MS - Mobile Station

PWM - Pulse Width Modulation

RC - Remote Control

RF - Radio Frequency

xii

RM - Ringgit Malaysia

Rx - Receiver

SPI - Serial Peripheral Interface

SPST - Single Pole Single Throw

TV - Television

Tx - Transmitter

UGV - Unmanned Guided Vehicle

U.S. - United States

USB - Universal Serial Bus

VLF - Very Low Frequency

Wi-Fi - Wireless Fidelity

xiii

LIST OF SYMBOLS

Hz - Hertz

kHz - Kilohertz

MHz - Megahertz

GHz - Gigahertz

Kbps - Kilobits Per Second

Mbps - Megabits Per Second

m - Meter

mm - Millimeter

mA - Milliampere

mAh - Milliampere Hour

mW - Milliwatt

μF - Microfarad

dB - Decibel

dBm - Decibel Milliwatts

V - Volts

Ω - Ohms

I - Current

R - Resistance

1

CHAPTER 1 INTRODUCTION

This chapter presents the background, problem statement, objectives, and scopes of the

project.

1.1 Background of the Study

The remote control helicopter requires some devices use to control their movement

and direction. In this case, the radio frequency transmitter and receiver are selected as the

wireless communication devices use to send and receive the commands given by the

humans. Thus, for the whole wireless communication devices, it contains two main parts

which are the transmitter part and also the receiver part.

For the transmitter part, the device that will be included is a radio frequency

transmitter. It is a device used to transmit the data through wirelessly, and it will be

installed inside the remote controller. In order to transmit the data to the environment, the

first thing to do is to switch on the remote controller. Then, the joystick needs to be moved

so that the microcontroller will be able to read the analog input values from the joystick.

Once the input from the joystick is received by the microcontroller, it will start to write the

analog output values for radio. When there is a radio available, the electricity will start

flowing into the antenna and it will make the electrons to vibrate so that the radio waves

will be produced. Thus, the radio will begin to transmit the radio waves to the environment.

For the receiver part, the device that will be included is a radio frequency receiver.

It is a device used to receive the data through wirelessly, and it will be installed inside the

body of the helicopter. In order to receive the data from the environment, the radio will

begin to listen whether there are some radio waves in the surrounding areas. Once the radio

2

is available, the receiver will start to receive the radio waves in which it will make the

electrons to vibrate in the antenna so that the electric current will be produced. Thus, the

analog input values from the radio will be received by the microcontroller, and then it will

start to write the analog output values to control the movement and direction of the remote

control helicopter.

From the above explanation, it is stated that the study of the wireless

communication is very important for the remote control devices. The basic components

such as the radio frequency transmitter and receiver are needed so that the remote control

helicopter will be able to perform based on the desired motion. Figure 1.1 below shows the

fundamental of radio waves transmission.

Figure 1.1: The fundamental of radio waves transmission

(Source: http://cdn4.explainthatstuff.com/transmitterandreceiver.png).

1.2 Problem Statement

It is not too difficult to make some devices that can send or receive the wireless

data. In this 21th century, the wireless technologies have been widely used in order to

control something such as the remote control helicopter. However, the remote control

helicopter will not be able to function if it is without a transmitter and receiver. Thus, to

overcome this problem, the main devices to include inside the remote controller and the

body of the helicopter are the radio frequency transmitter and receiver. In order to make a

transmitter and receiver, the important basic knowledge to explore is regarding to the

wireless signal communication. The transmitter and receiver are the wireless

communication devices in which the signal is transferred from one part to another so that

3

the remote control helicopter will be able to function based on the instructions sent by

humans. Therefore, the radio frequency transmitter and receiver are the main devices

needed in which it will be able to overcome the problems to monitor a remote control

helicopter wirelessly.

1.3 Objectives

1. To develop the radio frequency transmitter and receiver for the nitro remote control

helicopter.

2. To install the radio frequency transmitter and receiver on the remote controller and the

body of the helicopter, respectively.

3. To validate the range of data transmission by using the homemade and the existing

radio frequency transmitter and receiver.

1.4 Scopes

The radio frequency transmitter and receiver are developed to control a nitro

remote control helicopter with the brand name of ‗KYOSHO‘. The control parts are limited

for only 4 to 6 channels and the range of data transmission is limited for only 100 meters.

1.5 Summary

As a conclusion, the basic fundamental of radio waves transmission is needed in

order to know on how a pair of transmitter and receiver works as a device to send and

accept the signals wirelessly through the environment.

4

CHAPTER 2 LITERATURE REVIEW

This chapter presents the previous studies or researches done by the other people so that it

will help to get some related information or data to apply in this project.

2.1 Fundamental of Wireless Communication

According to King (2014), the determination of a network‘s structure should focus

on either licensed network or unlicensed network. The lower licensed network has the

frequency ranges such as 100MHz, 200MHz, and 400MHz. While the upper licensed

network has the frequency range of about 900MHz. Then, all of the lower licensed

frequency ranges will be considered as MAS (Multiple Address Systems) networks. Once

the distance coverage is determined, it requires a license acquisition from the FCC (Federal

Communications Commission). It means that all of these lower frequencies are only for the

proprietary use for the owner and the operating in these frequencies will be cited by the

FCC. Then, the cost for a pair of licenses is about a few thousand dollars to tens thousand

dollars. For the unlicensed network, the range of the frequencies is fall within 902MHz to

928MHz, which is considered as the ISM bands. The operating of these unlicensed

frequencies does not need to cite by the FCC. However, there are rules for utilizing the

frequencies of the ISM bands in which it has a built-in mechanism to carry out the

frequency hopping across the frequency spectrum known as FHSS (Frequency Hopping

Spread Spectrum).

5

Figure 2.1: The distance coverage for frequency ranges (King, 2014).

According to Saputra and Mirdanies (2015), the wireless communication is a

technology used to control the multiple patterns of movement on the Unmanned Guided

Vehicle (UGV). Normally, the frequency that is used to work on the remote control device

is about 2.4GHz. In the wireless system, the remote controller is used to direct the moving

path of the omni-directional mobile robot. In order to drive a DC motor to move in

clockwise or counter clockwise directions, the received six channel data from receiver

module is converted by using the microcontroller into the 4 bits data.

Deng, Zhang, and Jiang (2012) proposed the short-range wireless communication

technology in which the transmission are all work in the ISM band such as industrial,

scientific and medical. In the Europe country, the common frequencies used in the ISM

band are 27MHz, 315MHz, 433MHz, and 868MHz. While, the frequencies used in the U.S.

country is a little bit higher than Europe, which are around 902-928MHz and 2.4GHz. For

China, currently the frequencies used are still about 27MHz, 315MHz, 433MHz and

2.4GHz.

6

2.2 Radio Waves Propagation

According to Modi (2014), the radio waves propagation can be related with the

phenomena in which it is happen in the medium between both transmitting antenna and

receiving antenna. During the wireless signal transmission, the radio waves that radiated

from the transmitter antenna are propagated into the environment in all directions. The

amplitude of the radio waves will be decreased as the distance between both transmitter

and receiver antennas are increased. The frequency of transmission that within the range of

3kHz to 300GHz is considered as a radio frequency because it is commonly used in the

radio communication. The radio frequency spectrum can be divided into different

frequency bands based on their particular range of frequency and wavelength. The

fundamentals that allow the radio waves to work and spread through the environment are

the same since 100 years ago.

Bowditch (2002) stated that a radio wave can be considered as a carrier wave in

which it transferred the signal information from the transmitter part to the receiver part.

Each radio wave has a particular frequency or band of frequencies which belongs to it. A

mobile phone will not be able to work if the area without a radio tower. In order to connect

the calling, the small amounts of radio waves that are emitted from the mobile phone will

be sent to the radio tower. Then, these towers can only transfer the radio waves to a certain

distance and they need to connect with each other so that the calling from one phone will

be received by the other phone through the radio waves transmission. The radio waves also

can be applied in the leisure activities such as radio controlled cars, helicopters, and

airplanes. The radio waves work exactly in the same way because it propagation occurs in

the medium between both transmitting antenna and receiving antenna. However, the low

quality radio controlled vehicles will have the same frequency or band of frequencies so

that they might be controlled by the other controller due to the interference.

Yousuf (2010) proposed that the very low frequency (VLF) radio waves have the

frequency range of about 3 to 30kHz and it can pass through the sea water down to almost

the depth of 20 meters. While the extremely low frequency (ELF) radio waves has the

frequency range of about 3 to 3000Hz and it can pass through the sea water to the depth of

almost hundreds feet. Thus, the quality of the transmission is all depend on the water

conditions. This means that if the frequency used for a radio transmission is lower, the

signal that is transferred to the ocean will be pass through deeper.