Design fabrication and control of a quad copter

Project Title

Design fabrication and control of a quad copter

Project Area of Specialization Artificial IntelligenceProject Summary

A Quadcopter is a remote control aerial vehicle. These Vehicles have four arms and fixed pitch propellers. The propellers are configured in the X configuration. In order to ascend the Quadcopter vertically, the two propellers spins in a clockwise direction, while the other two spins in a counter clockwise direction. For implentation purpose, the arm based micro-controller is integrated with multiple sensors. The various stages of the project includes the literature survey, mathematical modeling, designing and fabrication of multiple parts, controlling and testing of a Quadcopter and survillance using first person view (FPV) camera mounted on the Quadcopter. Furthermore, the controlling of the Quadcopter is done by using various motion sensors such as Barometer, Accelrometer, Gyroscope, Magnatometer and Global positioning system (GPS) . Additionally,  the PID control is implemented to achieve the stable flight operation.

Project Objectives

The main objectives of the project are:

• To design, fabricate and control of an Unmanned Arial Vehicle.
• To implement the PID  control  by using the optimal control programs to achieve the stable flight operation.
• To equip the Quadcopter with FPV Camera to monitor the live video and to record it for further processing.

Project Implementation Method

The implentation methodology of the project is break down into different stsages. During the first stage, the literature survey is performed by using the relevant research papers. In the next stage, the design and analysis of the quadcopter is completed through a software called Creo Elements. In the third stage, the fabrication is done by using casting and CNC operations.

The  whole system works with the four motors getting signals from the main controller STM32 from receiver via ESC's. Next, the motion sensors are integrated within the circuit to provide roll, pitch and yaw data to the motors in order to bring Quadcopter back to its original position. Additionally, the barometer is used to perform an altitude hold mode of the Quadcopter. 

Benefits of the Project

1. Quadcopter unmanned aerial vehicles are used for surveillance and reconnaissance by military and law enforcement agencies, as well as search and rescue missions in urban and war torn environments.

2. These Vehicles are used by Fire departments to track and map wild and urban fire effected areas.

3. Private companies use Unmanned Aerial Vehicle (UAV) to monitor infrastructure such as multiple industrial plants, pipelines, development projects and so on.

4. Unmanned Aerial Vehicle (UAV) are used to develop, improve, and explore transmission and substation maintenance and operations.

Technical Details of Final Deliverable

1. Arm based micro-controller being used with the following specifications:

• Core:
  • ARM Cortex-M3 core at a maximum clock rate of 24 / 36 / 48 / 72 MHz.
• Memory:
  • Static RAM consists of 4 / 6 / 8 / 10 / 16 / 20 / 24 / 32 / 48 / 64 / 80 / 96 KB.
  • Flash consists of 16 / 32 / 64 / 128 / 256 / 384 / 512 / 768 / 1024 KB.
• Peripherals:
  • Each F1-series includes various peripherals that vary from line to line.

2. Electronic Speed Controller (ESC) are used to control and run the motors on desired speed. 

• Weight: 25g
• Dimensions: 45 x 24 x 11mm
• Power input: 5.6V - 16.8V (2-3 cells Li-Poly, OR 5-12 cells Ni-MH Ni-MH / Ni-Cd battery)
• BEC: 2A
• Constant current: 30A (Max 40A less than 10 seconds)

3. MPU-6050 motion sensors is used to control multiple positions of the Quadcopter.

• 16-bit AD converter-chip, 16-bit data output
• Use Chip: MPU-6050
• Power supply:3-5v (internal low dropout regulator)
• Communication: IIC communication protocol standard
• Gyro Range: ± 250 500 1000 2000 ° / s
• Acceleration range: ± 2 ± 4 ± 8 ± 16g
• Using Immersion Gold PCB, welding machines to ensure quality
• Size: 2 x 1.6 x 0.1cm

4. Barometer (MS5611) having Built-in 24bit AD converter chip is used for sensing the pressure in surrounding environment.

• Built-in 24bit AD converter chip
• High quality Immersion Gold PCB
• Using the chip: MS5611
• Power supply: 3V-5V (internal low dropout regulator)
• Communication: Standard IIC / SPI communications protocol.

5. Motors

• Height: 30 mm
• Width: 27.7 mm
• Weight: about 50 grams
• Shaft: 6 mm
• Shaft length: 7 mm
• KV (rpm/V): 980
• Voltage: 7.4-14.8 V
• Load current: 10.6 A
• Thrust per motor: 710 grams
• Power: 118 W 
• Efficiency: 6.0 (g/W)

6. Transmitter/Receiver

• Channels: 6 Channels
• Model Type: Glider/Heli/Airplane
• RF Range: 2.40-2.48GHz
• Bandwidth: 500Hz
• RF Power: Less Than 20dBm
• Low Voltage Warning: 9V
• Charger Port: Yes
• Power: 12V DC
• Weight: 590 grams
• ANT Length: 26 mm
• Size: 302x190x93 mm

Final Deliverable of the Project HW/SW integrated systemType of Industry Transportation , Security Technologies Artificial Intelligence(AI)Sustainable Development Goals Decent Work and Economic Growth, Industry, Innovation and Infrastructure, Sustainable Cities and CommunitiesRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	68800
ARM Cortex (sTM 32f103c8t6)	Equipment	1	800	800
Brushless DC Motors	Equipment	4	1000	4000
Electronic Speed Controller	Equipment	9	1000	9000
MPU-6050 (Sensor)	Equipment	1	500	500
Barometer(MS 5611)	Equipment	1	2500	2500
GPS and Magnetometer	Equipment	2	1000	2000
Transmitter	Equipment	1	8000	8000
Receiver	Equipment	1	2500	2500
Battery	Equipment	1	5000	5000
Battery charger	Equipment	1	3000	3000
FPV Camera and Receiver	Equipment	2	4000	8000
Propellers	Equipment	10	150	1500
Power module	Equipment	1	2000	2000
Material	Equipment	1	5000	5000
Fabrication	Equipment	1	5000	5000
Others	Miscellaneous	10	1000	10000