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
Top Related