WIRELESS CONTROLLED QUAD-COPTER

AIM
The main aim of the project is to design a remotely operated Quad-copter
ytem!"
A#STRACT
Research interests in Quadcopters have increased, as the sensors and control systems are getting
more advanced. The Quadcopter is naturally unstable with four motors, has a complex dynamic
model and six degrees of freedom. There are many commercially available Quadcopters for
sale, Our design is application specific with limited resource available suited for a
undergraduate project, it was largely decide to restrict the application for wireless control and
camera transmission based on Battery ower, hardware weight including the motors, wireless
modules and controller. This is the preferred platform used and it has high performance
characteristics. The Quadcopter re!uires an extensive control system in order to fly. "ith many
parameters it is difficult to implement and tune a regulator for such a system. #n addition to an
even more complex regulator many sensors are needed in order to ma$e the Quadcopter
autonomous. %or the attitude estimation sensor fusion is re!uired to get a robust and reliable
measurement. Based on the dynamic model the sensors needed were chosen. & tilt regulator is
used to stabili'e the Quadcopter around one axis. Building a Quadcopter for an educational
purpose, and to discover and resolve its complexity is an experimental project which can be
further improved as application and enhancement point of view.
INTRODUCTION
&utonomous Quadcopters are a part of the future. They have been researched in many
applications and some are capable of doing aggressive maneuvers. The main drawbac$ with
those projects is however the price of the lab facilities.
The objective is to build a fully functioning Quadcopter sensor platform. The Quadcopter has to
be easy to program, have autonomous capabilities and be able to lift a payload of a couple of
$ilograms. #n addition to the physical elements the main aspects of the Quadcopter has to be
discovered. "ith four motors the Quadcopter has many degrees of freedom.
De$%&%t%o&'
(& Quadcopter is an aircraft with four main propellers that provides lift. The four motors which
drive the propeller are fixed onto an frame that often is made li$e a cross, made from two
beams.)
The Quadcopter is almost exclusively used for small drones or radio controlled units today, but
can be built for full scale aircrafts. #n *+,, an %rench engineer, -tienne -dmond Oemichen,
built and flew his second helicopter design. This helicopter, .Oehmichen /o.,., had an 01
shaped frame with a rotor at each arm. "ith this design, several records were set. #n *+,2 model
was the first rotary wing to complete a flight to fly * $ilometer.
The Quadcopter is a popular concept which is a similitude of drone, that are used in 3ilitary
&pplications. The major advantage of using the Quadcopter is its ability to hover, and ta$eoff
vertically without any runway area re!uired. This ma$es the Quadcopter useful for many tas$s
and allows it to be operated in nearly any critical environments.
#ASIC CONTROLS O( AN A)IATION )E*ICLE
To begin with any projects terminologies are very important to understand
The movement mechanism of a flight involves three basic motions to be continuously monitored and
$ept normali'ed 45 degree6. They are
Roll' Roll is the rotation from side to side 4wings up1down6.
P%tc+' itch is the rotation for moving the front and tail end. This means it moves
the front end higher than the tail end, or vice versa. This aspect controls whether the
!uad is moving forward or bac$ward.
,a-' 7aw is the direction the !uad is facing.
These parameters estimate the true orientation of the aircraft, as shown below
COMPONENTS
89,*2: 4&R3;6, 3otor, Rotor. <yroscope and modem
E.ISTIN/ MET*OD
Research and development of unmanned aerial vehicle 4=&>6 and micro aerial
vehicle 43&>6 are getting high encouragement nowadays, since the application of
=&> and 3&> can apply to variety of area such as rescue mission, military, film
ma$ing, agriculture and others. #n 9oast <uard maritime search and rescue
mission, =&> that attached with infrared cameras assist the mission to search the
target.
PROPOSED MET*OD
Quad1copter or !uad rotor aircraft is one of the =&> that is major focuses of
active researches in recent years. 9ompare to terrestrial mobile robot that often
possible to limit the model to $inematics, Quad1copter re!uired dynamics in order
to account for gravity effect and aerodynamic forces. Quad1copter operated by
thrust that produce by four motors that attached to it body. #t has four input force
and six output states 4x, y,', ?, @, A6 and it is an under1actuated system, since this
enable Quad1copter to carry more load.
SOLUTION APPROAC*
The main problem in Quad1copter is the balancing and stability system. 3ost of
Quad1copter will be unbalance and lost stability in case there are disturbance
direct on it such as wind. #n this project, to solve above problem the full system of
Quad1copter is design and construct. <raphical user interface 4<=#6 is design in
this project to ma$e control tas$ of Quad1copter easier.
The objectives of this project areB
*6 To design Quad1copter that can control wireless base on computer.
,6 To design graphical user interface to communicate and control Quad1copter.
C6 To e!uip Quad1copter with stereo camera to display video.
26 To test the performance of designed Quad1copter.
roject scopes D constrainsB
The scopes include the weather condition, distance and spaceB
*6 Quad1copter only can operate in sunny day or dry condition.
,6 Quad1copter operate distance not more than *55m in eye sight from the
wireless receiver.
C6 Quad1copter is control by &R3 base microcontroller.
26 Quad1copter is operated by brushless motor control by electronic speed
9ontroller.
Accelerate
Arc+%tecture o$ QUAD-COPTER
LPC0123
4ARM56
RE/ULATED POWER
SUPPL,
Motor 1 Rotor 1
Motor01 Rotor 0
Motor 7 Rotor 7
Motor 2 Rotor 2
/yrocope 1
/yrocope 0
/yrocope 7
U*( T8
Accelerometer
Meter
Speed Se&or
IMPLEMENTATION
(or-ard mot%o&'
%orward 4bac$ward6 motion is control by increasing 4decreasing6 speed of rear
4front6 rotor. Eecreasing 4increasing6 rear 4front6 rotor speed simultaneously will
affect the pitch angle of the Quad1copter. The forward and bac$ward motions of
Quad1copter are represented in %igure below.
Le$t a&d r%9+t mot%o&'
%or left and right motion, it can control by changing the yaw angle of Quad1
copter. 7aw angle can control by increasing 4decreasing6 counter1cloc$wise rotors
speed while decreasing 4increasing6 cloc$wise rotor speed. %igure show the right
and
left motion of Quad1copter.
R%9+t mot%o&
Le$t a&d r%9+t mot%o&
OPERATING SYSTEM
Windows
TARGET DEVICE
LPC2148 ARM-7
APPLICATION LANGUAGE
Assembly, C/ C++
CROSS COMPILER -KIL !"I#I$%4
PROGRAMMER- &LA#' MA(IC)*+,-
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