Professional Documents
Culture Documents
AN AMPHIBIOUS QUADCOPTER
A PROJECT REPORT
Submitted by
(611311101014)
SRUTHI SADANANDAN
(611311101019)
BEENA CHRISTOPHER
(611311101702)
BACHELOR OF ENGINEERING
In
AERONAUTICAL ENGINEERING
MAHENDRA ENGINEEERING COLLEGE, SALEM
ABSTRACT
The objective of the project is to design an Amphibious Quad copter
Flying Machine, with the intention of suitable operations in dangerous or hostile
environments such as forest, urban and aquatic areas and to perform CFD
Analysis on the Aerodynamic forces. The maximum weight that can be carried
is calculated and provided with the margin of safe operation. A micro controller
is used to avoid the difficulties of controllability which has inbuilt gyros for
auto stabilization and the gyros are tuned for stabled flight. The multi rotor is an
emerging Unmanned Air Vehicle (UAV) that may have limitless applications.
Evolving from a century old design, modern multi rotors are turning into small
and agile vehicles. A number of multi rotor configurations were reviewed for
this purpose and finally quad rotor configuration was selected. Our present
focus is on developing a suitable design configuration for an amphibious quad
copter with the help of CATIA and CFD tools. The design was initiated by the
approximate payload the quad copter should carry and weight of individual
components. Based on the approximate weight of the quad copter, the
appropriate motors and corresponding electronic components were selected. The
selection of materials for the structure was based on weight, forces acting on
them, mechanical properties and cost. Since this quad copter is amphibious we
specially designed an unconventional foam landing gear so that it could float,
take-off and land on water. If possible we were planning to incorporate First
person view (FPV) into the system to carry to surveillance with the help from
GPS tracking system and live/recorded imaging.
ACKNOWLEDGEMENT
A well-educated sound and motivated work force is the Bed rock of special
and economic progress of our nation. Our heartfelt thanks are due to following
personalities for helping us to bring this project in a successful manner.
We take immense pleasure in thanking and grateful acknowledgement to
our
Chairman
THIRUMIGU
M.G.BHARATHKUMAR
,Mahendra
extend
our
extreme
gratitude
to
our
beloved
Dr.M.MADHESWARAN,M.E.,Ph.D,(IIT-BHU),MBA.,(Ph.D),
Principal
for
his
TABLE OF CONTENTS
CHAPTER NO
TITLE
ABSTACT
ii
LIST OF TABLES
vi
iii
LIST OF FIGURES
vii
iv
1.
LIST OF SYMBOLS
INTRODUCTION
2.
2.1
PAGE NO
ix
1
1.1
UAV
1.2
1.3
CLASSIFICATION OF UAV
1.4
LITERATURE REVIEW
11
12
2.1.3 V-22OSPREY
13
2.2
15
2.3
CONTROL OF AN UNCONVENTIONAL
15
VTOL UAV
2.4
DESIGN OF AN AUTONOMOUS
16
QUADROTOR UAV
2.5
16
AUTONOMOUS FLIGHT
2.6
2.7
17
17
OF LANDING GEAR
2.8
STYROFOAM PRODUCTION
DESCRIPTION
4
18
2.9
2.10
Al EXTRUSION
18
18
QUAD COPTER
19
2.12
19
3.
METHODOLOGY
20
BUDGET ESTIMATION
22
3.3
PRELIMINARY DESIGN
22
SELECTION OF COMPONENTS
23
3.4.1 PLATFORM
23
24
3.4.3 MOTOR
24
3.4.3.1OUTRUNNERS
24
3.4.3.2INRUNNERS
25
3.4.3.1.1SPECIFICATIONS
25
26
3.4.1.1FEATURES
3.5
23
27
3.4.4.2SPECIFICATIONS
28
3.4.5 BATTERIES
28
3.4.5.1SPECIFICATIONS
29
29
3.4.6.1SPECIFICATIONS
30
3.4.7 PROPELLER
30
31
32
CONTROL SYSTEM
32
32
3.5.2 SAFETY
33
5
3.5.3 RECEIVER
33
33
34
34
FLIGHT CONTROL
3.5.7 STEP BY STEP SETUP GUIDE
34
34
35
RANGE IN ESC
3.5.7.3CHECKING THE DIRECTION OF THE
35
TRANSMITTER CHANNEL
3.5.7.4CHECKING THE GYRO
36
COMPENSATIONS
3.6
36
37
3.5.7.7FINAL ADJUSTMENTS
37
37
38
38
QUADCOPTER MOVEMENT
39
MECHANISM
3.6.1 TAKEOFF AND LANDING
40
MECHANISM
3.6.2 FORWARD AND BACKWARD
41
MECHANISM
3.6.3 LEFT AND RIGHT MOTION
42
43
POSITION
4.
44
4.1
WEIGHT ESTIMATION
4.1.1
WEIGHT ESTIMATION OF
44
45
COMPONENTS
4.2
CG CALCULATION
45
4.3
ENDURANCE CALCULATION
46
4.4
CATIA MODELLING
47
47
48
CFD ANALYSIS
49
4.6
RESULT
57
5.
CONCLUSION
57
6.
REFERENCE
58
LIST OF TABLES
TABLE NO.
1.
TITLE
PAGE NO.
CLASSIFICATIONS BY WEIGHT
AND ALTITUDE
2.
CLASSIFICATION BY RANGE
AND ENDURANCE
3.
DESIGN PARAMETERS
4.
BUDGET ESTIMATION
22
5.
INITIAL CONFIGURATION
23
6.
WEIGHT ESTIMATION OF
45
COMPONENTS
LIST OF FIGURES
FIGURE NO.
TITLE
PAGE NO.
1.
GLOBAL HAWK
2.
3.
12
4.
13
5.
V-22 OSPREY
14
6.
BRUSHLESS DC MOTOR
25
7.
26
8.
LIPO BATTERY
28
9.
MULTICOPTER BOARD
29
10.
PROPELLERS
31
11.
ACROLYTE SHEET
31
12.
STYROFOAM
32
13.
39
14.
39
15.
40
16.
TAKE-OFF MOTION
41
17.
LANDING MOTION
41
18.
FORWARD MOTION
42
19.
BACKWARD MOTION
42
20.
RIGHT MOTION
43
21.
LEFT MOTION
43
22.
CO ORDINATE SYSTEM
44
23.
CG REPRESENTATION
46
24.
48
25.
QUAD COPTER 2D
48
26.
49
27.
49
28.
48
29.
49
30.
COEFFICIENT OF LIFT
50
31.
COEFFICIENT OF DRAG
51
32.
COEFFICIENT OF MOMENT
51
33.
COEFFICIENT OF PRESSURE
52
34.
52
35.
DYNAMIC PRESSURE
53
36.
ABSOLUTE PRESSURE
53
37.
TOTAL PRESSURE
54
38.
KINETIC ENERGY
54
39.
SHEAR STRESS
55
40.
55
41.
VELOCITY VECTOR
56
10
Ampere
ACTD
BEC
C.G
Center of Gravity
CFD
CATIA
CW
Clock Wise
CCW
Cl
Coefficient of Lift
Cd
Coefficient of Drag
Cm
Coefficient of Moment
D/R
Dual Rates
DARPA
DARO
Exponential
EXPO
Exponential
Endurance
EPA
ESC
GUI
gm
Grams
HAE
KV
KiloVolt
mah
Power available
Thrust
Voltage
11
1. INTRODUCTION
1.1. UNMANNED AERIAL VEHICLE
An Unmanned aerial vehicle (UAV) is a type of aircraft which has no
onboard
crew
or
passengers.
UAVs
include
both
autonomous
developing this system for months: "The Press, of Vienna, Austria, has the
following: 'Venice is to be bombarded by balloons, as the lagoons prevent
the approaching of artillery.
Five balloons, each twenty-three feet in diameter, are in construction at
Treviso. In a favorable wind the balloons will be launched and directed as
near to Venice as possible, and on their being brought to vertical positions
over the town, they will be fired by electro magnetism by means of a long
isolated copper wire with a large galvanic battery placed on a building. The
bomb falls perpendicularly, and explodes on reaching the ground. Although
balloons do not generally meet today's definition of a UAV, the concept was
12
strong enough that once winged aircraft had been invented, the effort to fly
them unmanned for military purposes was not far behind.
Unmanned Aerial Vehicles, or UAVs, as they have sometimes been
referred to, have only been in service for the last 60 years. UAVs are now
an important addition to many countries air defense. Modern UAVs have
come a long way since the unmanned drones used by the USAF in the
1940s. These drones were built for spying and reconnaissance, but were not
very efficient due to major flaws in their operating systems.
Over the years UAVs have been developed into the highly sophisticated
machines in use today. Modern UAVs are used for many important
applications including coast watch, news broadcasting, and the most
common application, defense. The military use of unmanned aerial vehicles
(UAVs) has grown because of their ability to operate in dangerous locations
while keeping their human operators at a safe distance. The larger UAVs
also provide a reliable long duration, cost effective, platform for
reconnaissance as well as weapons. They have grown to become an
indispensable tool for the military.
The question we posed for our project was whether small UAVs also had
utility in military and commercial/industrial applications. We postulated that
smaller UAVs can serve more tactical operations such as searching a village
or a building for enemy positions.
Smaller UAVs, on the order of a couple feet to a meter in size, should be
able to handle military tactical operations as well as the emerging
commercial and industrial applications and our project is attempting to
validate this assumption.
To validate this assumption, my team considered many different UAV
designs before we settled on creating a Quad copter. The payload of our
Quad copter design includes a camera and telemetry that will allow us to
13
watch live video from the Quad copter on a laptop that is located up to 2
miles away.
1.2. AMPHIBIOUS QUADCOPTER
An amphibious aircraft or amphibian is an aircraft that can take off and
land on both land and water. Fixed-wing amphibious aircraft are seaplanes
(flying boats and floatplanes) that are equipped with retractable wheels, at
the expense of extra weight and complexity, plus diminished range and fuel
economy compared to planes designed for land or water only. Some
amphibians are fitted with reinforced keels which act as skiis, allowing
them to land on snow or ice with their wheels up and are dubbed triphibians.
In the United Kingdom, traditionally a maritime nation, a large number of
amphibians were built between the wars, starting from 1918 with the
Vickers Viking and the early 1920sSupermarine Seagull and were used for
exploration and military duties including search and rescue, artillery
spotting and anti-submarine patrol .
The most notable being the Short Sunderland which carried out many
anti-submarine patrols over the North Atlantic on sorties of 8 12 hours
duration. These evolved throughout the interwar period to ultimately
culminate in the post World War 2 Super marine Seagull, which was to
have replaced the wartime Walrus and the Sea Otter but was overtaken by
advances in helicopters.
Starting in the mid-1920s and running into the late 30s in the United
States, Sikorsky produced an extensive family of amphibians (the S-34, S36, S-38, S-39, S-41, S-43) that were widely used for exploration and as
airliners around the globe, helping pioneer many overseas air routes where
the larger flying boats could not go, and helping to popularize amphibians in
the US.
14
15
16
17
DESIGN
SPECIFIED
PARAMETERS
RANGE
Weight
<5kg
JUSTIFICATION
Micro UAV fall
under this category
Since it is a micro
Altitude
<1000m
Endurance
Conventional
Could be easy to
quad-copter
Wing type
<5hrs
electric propulsion
system
Propulsion
Electric
system
propulsion
less noisy
2. LITERATURE REVIEW
2.1. ANALYSIS OF MILITARY UAV, SHASHAKAR.C
UAVs for military use were reduced to practice in the mid-1990s with the
High-Altitude Endurance Unmanned Aerial Vehicle Advanced Concept
Technology Demonstrator (HAE UAV ACTD) program managed by the
Defense Advanced Research Projects Agency (DARPA) and Defense
Airborne Reconnaissance Office (DARO). This ACTD laid the groundwork
for the development of the Global Hawk shown in Figure (1).
The Global Hawk flies at altitudes up to 65,000 feet for up to 35 hours at
speeds approaching 340 knots while costing approximately 200 million
dollars. The wingspan is 116 feet and it can fly 12,000 nautical miles which
is considerably greater than the distance from the U.S. to Australia. Global
18
19
vehicles are also modeled after various insects and generally use exotic
designs and materials and are physically small.
Additionally, although this design claims to be able to glide, the erratic
motion caused by flapping wings could make this a difficult platform to
operate a camera from. Although the designs in this class of UAV are
fascinating, our interest was in attempting to produce a small UAV which
could support a broad mission capability and these MAVs were dismissed
as being too small.
In addition to reviewing very large and very small UAVs, we were also
intrigued by the requirements of DARPAs UAV forge competition which
was posted around the time we started our project.
The UAV forge challenge uses crowd sourcing techniques to design and
build a micro-UAV that can take off vertically, go to a designated distant
location, monitor the location for up to three hours, identify specific objects
and then return home.
20
our project and the amateur community represented by the DIY drones
website.
This community is dedicated to open source development and distribution
of information and technology related to UAVs. They have developed
control modules, software, and various sensors that can be mixed-andmatched to build a low cost UAV.
They also produce a low cost rudimentary Quad copter system that is
available for purchase. The existence of this resource makes a Quad copter
senior project feasible because some of the component parts can be reused
instead of reinvented.
It would not be feasible for a small three person team to create all the
technology required for a Quad copter for a very limited budget and
compressed time schedule.
From the perspective of our senior project, DIY drones provides
components for a quick baseline implementation that will allow us to focus
on the problems of flight stability, payload management, and mission
applications with more resources than if we had to reinvent the base
technology.
The DIY drones components are also most importantly very low cost
when compared to military alternatives and they are well documented and
understood.
For all these reasons, we decided to take the DARPA UAV forge as the
starting point for performance metrics and the DIY drones components as
the baseline design and then test our hypothesis from that starting point.
2.1.1. EXISTING VTOL AIRCRAFT
Model aircraft are typically based on existing full-size aircraft. In this
section a critical Analysis of existing VTOL aircraft is presented.
22
Differential thrust from the exhaust and the lift fan allows for pitch
control of the aircraft.
The air ducts protruding from the sides of the turbine direct jets of air out
to the wings, controlling roll.
24
payloads. Capable of 510 km/h (Boeing, 2005) in conventional flight the V22 combines the advantages of helicopters and fixed wing aircraft.
A V-22 Osprey in its hover configuration is shown in Figure Powered by
two Allison T406-AD-400 turboprop engines, each developing 4,586 kW of
power, the V-22 drives each of its tri-blade 11.58 m diameter prop rotors to
achieve the large amount of thrust required for vertical take-off (Boeing,
2005).
Utilizing both cyclic and collective propeller pitch control, the V-22 can
control all six of its degrees of freedom when in hover while the nacelles
remain stationary and in their upright position (Rogers, 1989).
A cut away of the port nacelle to show these pitch control mechanisms is
shown in, as well as a cut away of the starboard nacelle showing the tilt
jack. In April 1983 this project that was to be known as the Osprey was
collaboration between Bell, known for their experience with tilt wing
rotorcraft, and Boeing Vitol, known for their experience with heavy lifting
helicopters (Rogers, 1989).
STEREO
26
RESEARCH
AND
RESCUE,
ROBERT
D'ANGELO
CMOS
camera,
and
rangefinders.(ROBERT
DANGELO
&
ROBINSONLEVIN)
These sensors are interfaced to an Overo processor, which sends highlevel commands to a low-level flight controller, the HoverflyPro. Flight
tests were conducted which demonstrated flight control and sensor
operation.
2.5. DESIGN OF A QUADROTOR CAPABLE OF AUTONOMOUS
FLIGHT AND COLLABORATION WITH UGV, JOHN J.SIVAK,
WOECESTER POLYTECHNIC INSTITUTE
This research was to design and implement an autonomous quad rotor
aerial vehicle for collaborative operations with autonomous ground
vehicles. The main design constraints were to maximize payload and flight
time.
The quad rotor consists of a Delrin hub with four aluminum arms, and is
infused with an IMU and multiple range finder sensors. All of the
electronics on the quad rotor were implemented and the equations of motion
were derived, however at the time this report was written the control
equations were not yet programmed.(JOHN J.SIVAK)
The ground robot is also currently unable to communicate with the quad
rotor despite the communication framework being set in place. However,
27
further work programming both the quad rotor and the ground robot could
result in a fully-functional system.
2.6. ANALYSIS OF DIFFERENT DESIGNED LANDING GEARS
FOR A UAV, ESSAM.A.AL-BAHKALI,WORLD ACADEMY OF
SCIENCES,ENGINEERING AND TECHNOLOGY
This research is mainly focused on the Analysis of Different Designed
Landing Gears for fundamental light weight, high strength, coupled with
techno economic feasibility. In this advanced CAE techniques is used.
The maximum principle stresses for each model along with the factor of
safety are calculated for every load .Different landing gear configuration
have been analyzed and modeled using a commercial finite element code
(ABAQUS).(ESSAM.A.AL-BAHAKALI)
Different landing conditions are considered (thirteen different loading
conditions that were calculated from different landing speeds), the
maximum principle stresses for each model along with the factor of safety
are calculated for every loading condition.
2.7. DESIGN AND STRUCTURAL ANALYSIS OF WEIGHT
OPTIMISED MAIN LANDING GEARS FOR UAV UNDER IMPACT
LOADING,
RAEES
FIDA
SWAT,
JOURNAL
OF
SPACE
TECHNOLOGY
In this analysis Landing Gears are designed by considering the values of
stress, strain/deformations and stress intensities using computational tools
for the maximum values of loads with a reasonable and logical safety factor.
Weight is optimised in a way such that an optimised structure for the
landing gear can withstand deformations.(RAEES FIDA SWAT)
Commercially available computational tools are used for the evaluation
of the initial structure design in Try-cycle modeland modified model.
The models were used for computation of stresses, strains, and stress
intensities and finally a lightweight and reliable strctuture design is evolved.
28
ALUMINIUM
EXTRUSION:
ALOOYS
'SHAPES
AND
DESIGN
AND
DEVELOPMENT
OF
AMBHIBIOUS
This
community
is
30
3. BUDGET ESTIMATION
Table 4. Budget estimation
SL.NO
CONTENTS
DESCRIPTION
AMOUNT
Studied CATIA
V5 software and
designed the
CATIA V5
components of
training
10,000
quadcopter.Also
assembled the
components.
Studied CFDANSYS
software and
CFD-ANSYS
of designed
training
10,000
quadcopter for
various
atmospheric
conditions.
Data collection
Others
Report and
printouts.
1000
2000
31
PARAMETERS SPECIFICATION
Platform
Material
Quad-copter
Aluminum
& Acrolyte
JUSTIFICATION
For more stability
Lesser weight
They can be
frequently stopped
with the rotor in a
Motor
defined angular
runner
Battery
Li-po(lithium
polymer)
33
3.4.3.2. IN-RUNNERS
In runners get their nickname from the fact that their rotational core is
contained within the motor's can, much like a standard ferrite motor.
Out runner motor is selected for the Quad-copter for its reduced torque. The
motor selected is given below
950KV
capable
of
RPM: 950kv
Max current: 23.2A
No load current: 1A
Max power: 243W
Internal resistance: 0.070 ohm
Weight: 70g (including connectors)
Diameter of shaft: 4mm
Dimensions: 28x36m
Prop size: 7.4V/12x6 14.8V/9x6
Max thrust: 850g
3.4.4. ELECTRONIC SPEED CONTROLLER
The YEP series are the best Esc's With Multi copter specific
programming options such as super smooth soft start, fixed RPM mode
and ultra high resolution.
The YEP series ESCs not only offer excellent performance for Multi
copters, they are also well suited for fixed-wing use with a whole host of
programmable features. YEP ESCs are built with the highest quality
components to ensure true-to-rating current handling and high efficiency
operation. YEP ESCs can be programmed via optional programming
card.
3.4.4.1. FEATURES:
Powerful 5.5V/4A Switching BEC
Optional programming card for convenient setup
Super fine throttle resolution provides first-rate and highly accurate
linearity.
Super smooth adjustable start-up mode
Constant RPM mode (governor mode)
Adjustable F3A brake.
3 steps adjustable normal EMF brake
High anti-interference capability
Low voltage cut-off protection with automatic adjustment
For NiCd/NiMH/Li-Ion/LiPo/LiFePO4
Soft cut-off option at low voltage, slows motor RPM gradual
Rather than hard cutoff (LVC)
Low voltage cut-off can be disabled
Variable cut-off voltage / cell
Active free-wheeling circuit allows for unlimited "partial load"
capability.
LED status display
Adjustable motor timing from 0 to 30
Blocked rotation protection (senses a jammed motor and stops
motor rotation)
Motor reversing from ESC (no need to change ESC/motor wires)
Over-temperature protection and overload alarm
Throttle signal lose protection. If the signal is lost for 3 seconds,
The powers will automatically cut-off.
Safe power-on. (Motor will not start until throttle is returned to
lowest position)
36
3.4.4.2. SPECIFICATION:
Max Cont Current: 30A
Max Burst Current: 35A for 10 seconds
Input Voltage: 2-4 cells li-XX or 6-12 Ni-MH/Ni-Cd battery
BEC: 5.5V/4A Switching BEC
PWM: 8~16 KHz
Max RPM: 240,000rpm for 2 Poles Brushless Motor
PCB Size: 34x24x9mm
Weight: 26g (including wires).
3.4.5. BATTERIES
The number of cells is determined according to many criteria such as
autonomy, power reserve, motor characteristics, life (number of cycles
charge/discharge, etc). The range of technologies for these elements is
huge. In the framework studied, the more appropriate are Lithium Polymer
batteries, which have higher performances than former technologies (NiCad
and NiMH) for quantity of stored energy by weight unit (cf. table).
[16]
3.4.5.1. SPECIFICATION
Capacity: 8000mAh
Voltage: 4S1P / 4 Cell / 14.8v
Discharge: 30C Constant / 40C Burst
Weight: 845g (including wire, plug & case)
Dimensions: 166x69x35mm
Balance Plug: JST-XH
Discharge plug: 5.5mm Bullet-connector (without housing)
3.4.6. CONTROL BOARD
The KK2.0 is the evolution of the first generation KK flight control
boards. It's chosen since the KK2.0 was engineered from the ground up
to bring multi-rotor flight to everyone, not just the experts. The LCD
screen and built in software makes install and setup easier than ever. A
host of multi-rotor craft types are pre-installed. Simply select your craft
type, check motor layout/propeller direction, calibrate your ESCs and
radio and your ready to go! all of which is done with easy to follow on
screen prompts.
Fig.12. Styrofoam
3.5. CONTROL SYSTEM
To get the best stability and flight performance from your KK-controller
mount it using a vibration dampening material such as gyro-tape or a
thick double sided sticky tape. Also make sure to balance you props and
motors to remove as much vibrations as possible.
3.5.1. SOME GENERAL MULTIROTOR TIPS:
Do not use bigger propellers than you need. Light propellers give faster
response resulting in a more stable platform. When designing your platform
try to get it to hover around mid-stick. This means that your platform will
have enough power at all time to respond and compensate but not have too
much power resulting in a less stable platform. To achieve these use
bigger/smaller propellers, lower/higher kV motors, more/fewer number of
battery cells or more or less weight.
41
3.5.2. SAFETY:
Never have the propellers mounted when setting up your platform! A
spinning motor without a prop isnt dangerous but a prop spinning at wide
open throttle cuts flesh better than a hot sword. Therefore, never ever have
the props attached when youre setting up or making adjustments to you
multi-rotor platform.
3.5.3. RECEIVER:
The soldered cables coming of the board are the four signal wires that
plugs into your receiver.
On a Futaba/Hitec receiver they plug in as follows:
Aileron - Channel 1
Elevator - Channel 2
Throttle - Channel 3
Rudder - Channel 4
On a Spectrum receiver simply plug the aileron into the aileron port,
elevator to elevator and so on.
3.5.4. MOTORS/ESC:
Down in the corner there are 6 motor outputs (M1 through M6)
On a Quadcopter the ESCs are plugged in as such:
M1 - Front motor CW
M2 - Left motor CCW
M3 - Right motor CCW
M4 - Back motor CW
3.5.5. PREPARING THE TRANSMITTER:
Create a new model memory and make sure that all mixes are disabled,
all trims are neutral and that all End Point Adjustments (EPA) and D/Rs
are set to 100%
42
43
Move the Yaw (Rudder) stick to the left. The front and back motor should
speed up. If it doesnt, reverse the channel in your transmitter. (This will
make the arming function reversed as well, meaning that you need to move
the stick down in the left corner to arm the controller. This can be corrected,
see step 7)
3.5.7.4. CHECKING THE GYRO COMPENSATIONS
This step is to ensure that the gyros compensate in the right direction. If
they dont the platform will be uncontrollable and flip heads over heals.
Never perform this step with the props mounted!
Turn on the transmitter and then the flight-controller
Arm the controller. (Move the throttle stick to the down-right corner)
Start the motors by raising the throttle (around 1/4 or so)
Tilt the Quadcopter forwards. The front motor should speed up. If
it doesnt, note it, youll fix this in the next step.
Tilt the Quadcopter to the right. The right motor should speed up. If
it doesnt, note it, youll fix this in the next step.
Rotate the Quadcopter to the right (clockwise). The front and
back motors should speed up. If it doesnt, note it, youll fix this in
the next step.
3.5.7.5. REVERSING THE GYROS
This is how you reverse the compensation direction of the gyros
Make sure that the flight-controller is turned off
Turn the Roll pot to the MIN position
Turn on the transmitter then the flight-controller
The LED will flash rapidly 10 times and then turn off
Move the stick for the gyro you want to reverse. (If you want to reverse
the roll gyro, move the roll (aileron) stick)
The LED will flash continually to confirm your choice
45
46
Raise the throttle and fly. The gyros calibrate just as the throttle stick
leaves the minimum position
3.5.9. FINDING THE CORRECT GAIN:
Increase the gain in small steps until the platform starts oscillating
(overcompensating making the platform rock from side to side)
Reduce the gain a bit
You now have the optimum amount of gain.
Fast forward flight requires lower gain.
Too low gain is recognized by a hard to control platform that wants to tip
over.
Too high gain is recognized by oscillations.
3.5.10. EPA, D/R and EXPO:
If the platform feels to fast or twitchy you can either reduce the EPAs
(End Point
Adjustment) or D/Rs (Dual Rates) or add EXPO (Exponential)
EPA and D/R makes the whole stick less sensitive and makes the
platform slower. EXPO makes the middle of the stick less sensitive but
keeps the throw at the end of the stick. This means that you can have nice
control in a hover, which requires small adjustments, but you keep the
ability to fly fast and agile.
Its not uncommon to need a couple of clicks trim to make the platform
hover perfectly leveled. This is due to the small differences in the motors,
ESCs and props.
Always disarm the platform after youve landed. (Move the throttle stick
down in the left corner for 5 seconds or so) This little procedure has the
potential to save you platform or face, so be sure to make it a habit.
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Fig.21.Left motion
3.6.4. HOVERING OR STATIC POSITION
The hovering or static position of Quadcopter is done by two pairs of
rotors are rotating in clockwise and counter (clockwise respectively with
same speed.
By two rotors rotating in clockwise and counter (clockwise position, the
total sum of reaction torque is zero and this allowed Quadcopter in hovering
position.
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Fig.22.Co-ordinate system
Thrust produced by the Motors is
T=T1+T2+T3+T4
Since directional and other maneuvers are obtained by varying the rpm
using Multi copter board full thrust produced by a motor can be used for
hovering.
So,
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COMPONENTS
Number
WEIGHT(kg)
Motors
0.280
1.690
0.021
Battery
Multi copter KK
board
Accessories(wires,
nuts, bolts)
Propellers
0.020
Acrolyte sheet
0.060
Al rods
0.200
ESC
0.104
Receiver
0.015
10
Foam board
0.050
11
Permissible Payload
TOTAL
ANY
0.400
3
4
0.080
2.740
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= 2.7 kg
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Available thrust
= 3.4 kg
2.7
3.4
Power available
= V*I Wh
= (8Ah*14.8V)*2
= 236.8 WH
= 243 W
Endurance
power available
power required
236.8 wh
767.88 w
=0.3084*60
QUAD-COPTER
WITH
CONVENTIONAL
LANDING GEAR.
Each components of the amphibious quadcopter are designed in part
design work bench.
After finishing it, each of the components are assembled in the assembly
work bench.
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ss
Fig.32. Coefficient of Static Pressure
Above figure represent contours of static pressure around quad copter.
Maximum value is 5.89e-01 pa and minimum value is -2.70e-01pa.
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4.6. RESULTS
Maximum Coefficient of Lift is 0.5 around Quad copter at 0.3 m/s
velocity. Lift force is 2.29e-01.
Maximum Coefficient of Drag is -0.90 around Quad copter at 0.3 m/s
velocity. Drag force is -0.03122.
Maximum Coefficient of Moment is 0.0310 around Quad copter at 0.3 m/s
velocity. Moment is -0.00224s.
Pressure coefficient for quad copter. Maximum value is 3.60e-02 and
minimum value is -1.63e-02.
Static pressure around quad copter. Maximum value is 5.89e-01 pa and
minimum value is -2.70e-01pa.
Dynamic pressure around quad copter. Maximum value is 1.09e-01 pa
and minimum value is 1.29e-04pa.
Absolute pressure around quad copter. Maximum value is 1.01e+05 pa
and minimum value is 1.01e+05pa.
Total pressure around quad copter. Maximum value is 5.65e-01 pa and
minimum value is -2.43e-01pa.
Turbulent Kinetic Energy around quad copter. Maximum value is 7.02e01m2/s2 and minimum value is 2.06e-01m2/s2.
Wall Shear Stress around quad copter. Maximum value is 6.97e-03 pa
and minimum value is 1.10e-03 pa.
Skin Friction Coefficient around quad copter. Maximum value is 4.55e-04
and minimum value is 2.40e-05.
5. CONCLUSION
The Amphibious Quad-copter with a conventional Landing Gear has been
Successfully designed using CATIA V5 R20 and has been analyzed for the
Aerodynamic forces, moments, Pressure variations, Kinetic Energy
acquired, Shear stress acting on it etc. The Aircraft has also been designed
with Camera circuit capable of live imaging and recorded Imaging. We
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have a scope, In Future the Aircraft will be Fabricated Along with imaging
Circuit Geo tagging and GPS recording will also be incorporated.
6. REFERENCES
1. Study of Unmanned Aerial Vehicles PhD Thesis, Carnegie Mellon
University, U.S.A, 2001
2. Classification of unmanned aerial vehicles Mech eng 3016
Aeronautical Engineering Dr. Maziar Arjomandi.
3. Comprehensive System Identification Of Ducted Fan UAV A Thesis
Presented To The Faculty Of California Polytechnic State University San
Luis Obispo.
4. Ducted Fan UAV Modeling and Simulation In Preliminary Design
Andy Ko, Osgar John Ohanian And Paul Gelhausen AVID LLC,
Blacksburg, VA, 24060
5. Development Of A Dynamic Model Of A Ducted Fan VTOL UAV A
Thesis Submitted In Fulfillment Of The Requirements For The Degree Of
Master Of Engineering, Hui Wen Zhao B.Eng.
6. R.H Stone and G.Clarke. The T-Wing: A VTOL UAV for Defense And
Civilian Applications, UAV Australia Conference, Melbourne, 2001.
7. Applications for Mini Vtol Uav for Law Enforcement, Douglas
Murphya and James Cyconb. Spie Proc. 3577: Sensors, C3i, Information,
And Training Technologies For Law Enforcement, Boston, 1998.
8. Tri-rotors uav stabilization for vertical takeoff and hovering. J.cristofol,
y. Hertienne, m. Lafleur, b. Verguet and s.vitu. Undergraduate students,
ecole centrale delectronique, paris, france.
9.Collaborative uav study. Tan han rong, ronald. Department of
mechanical engineering, national university of singapore.
10. Study of a propulsion system for a mini uav.mudrone project, ensmm,
besanon. B.le.solliec, s.bourgaigne1, b.salhi, c.stephan, p. Paquier,
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members of the propulsion system work team ensmm coordinator of the uav
project ensmm (national superior school of mechanics and microtechnics)
11. Unmanned air vehicle (uav) ducted fan propulsion system design and
manufacture submitted by wah keng tian department of mechanical
engineering. In partial fulfillment of the requirements for the degree of
bachelor of engineering national university of Singapore.
12. Kk multicontroller v.5.5 blackboard the multicopter flight controller
based on the original design by Rolf bakke (kapteinkuk) with modifications
by jussi hermannsen and mike Barton.
13. The manual of multicopter control board i86l these papers are used to
study the electronic controls and to stabilize the uav by integrating it with
the components.
14. Plywood properties The Engineering Wood Association January
1997.
15. The Calculation and Design Of Ducted Fans A comprehensive study
done on design calculation.
16. Electrical Ducted Fan Components Hobby king.
17. Study of a propulsion system for a mini UAV Mudrone project,
ensmm, besanon. B. Le solliec, s. Bourgaigne, b. Salhi, c. Stephan.
18. Strength of materials by Rajput.
19. Solid Mechanics by Rajput.
20. Performance Study of A Ducted Fan System Anita I. Abrego,
Aerospace Engineer.
21. Investigation of Control Effectors for Ducted Fan VTOL UAV by
Richard Harris.
22. KK Multicopter Configuration based on the work of Rolf R Bakkec
original PCB.
23. Tricopter fabrication Tricopter build master thesis by Dan Salluce.
CATIA.
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