Peter the Great St. Petersburg Polytechnic University
Project TAU
Quadcopter "Innovatronik"
Iana Vinokur Katya Geredchuk Anya Ivanova Denis Mikhailov Sardaana Grigorieva Margarita Kulagina Nikita Shivinskii Dream team:
jana.vinkur@rambler.ru +7(981)1507809 https://vk.com/club130568139
St. Petersburg
2016
Contents
Y
0. Introduction 3
1. Principle of operation 5
1.1Goals of Current Development 5
1.2 Control 5
1.3 Quad-Rotor Dynamics 11
1.4 Blade Flapping 13
2. Mathematical study 14
2.1 Measured Values and Uncertainty 14
3. Control and Simulation 15
4. Programming code for Arduino 21
5. 3d-model Quadcopter 22
6. Project plan 25
6.1. Project plan 26
7. Project budget 27
8. Burden sharing 33
9. Сonclusion 34
10. References 35
0. Introduction
Project goals:
To make compact, stable, cheap quadrocopter with Arduino. Stabilize dron by the frequency of motor’s rotation. Regulation type is - PID.
Figure 0.1 Quadcopter’s elements [1]
Stages:
Assembly of quadcopter has stages:
Assemble of frame;
Firmware of hardware;
Power scheme implementation;
Switching equipment;
Setting the initial paraments and calibrating sensors.
We don’t need to firmware (only flying controller), because our spare parts have standard firmware’s, which would help us to achive our goals. But we need to install the program Mission planner to firmware controller. Then we should plug controller by USB port, press INITIAL SETUP/Install Firmware and choose our type of frame (ArduCopter Quad Stable).
In the down of window you can see the process of download the firmware and the program would notice you at the end of installing.
Scheme of power must have voltage = 5 volt, the voltage should be constant or there can be emergency situations. So, we need linear transducer L 7805, which hasthe voltage +5volt in exit. Also we need a ferrite ring to eliminate high-frequency interferences.
It is important to keep in mind the direction of motor’s rotation and their numeration before the switching the equipment. Then we need to switch ESC regulators by Figure 0.2.
Figure 0.2 Switch ESC regulators [2]
Expected characteristics:
• Flight time - 10 minutes (depend on settings);
• Range of flight -150 meters (depend on radio quality);
• Flight speed - 35 km/h;
• Baggage weight - 300 gr.
* These characteristics will be clarified in the presence of the equipment and may vary.
1. Principle of operation
1.1Goals of Current Development
Ongoing work on the leaflet is aimed at stabilizing the aircraft in roll, pitch and yaw. Continuous flight requires a pitch and roll angles remain near zero, except when the active translation. The natural instability of the aircraft systems require active compensation. Special design for purely chassis results in instability in the expanding pitch and roll, the controller can easily correct.
Dynamics quad helicopter rotor blade flapping studied. On the basis of the aerodynamic model 6DOF we Decoupled dynamics in the longitudinal (pitch / roll) and azimuthal modes [5]. The approach is to optimize the management of the mechanical structure to manage these dynamics and implement a linear control in SISO unleashed dynamics. It describes the controller that is used to stabilize the ship in the simulation, and then go on to demonstrate the function of the roll and pitch compensation tethered flight.