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Design and Development of a Quadrotor – A Didactic Approach
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1.
International Research Journal
of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 04 Issue: 07 | July -2017 www.irjet.net p-ISSN: 2395-0072 © 2017, IRJET | Impact Factor value: 5.181 | ISO 9001:2008 Certified Journal | Page 2556 Design and Development of a Quadrotor – A Didactic Approach Sajid Shaikh1, Ritesh Varpe2, Vaibhav Adhalage3, Akshay Virade4 1, 2, 3,4Student, Department of Mechanical Engineering, Dr D Y Patil SOET, Pune, India ---------------------------------------------------------------------***--------------------------------------------------------------------- Abstract - A quadcopter can be concisely categorized as an Unmanned Aerial Vehicle (UAV) that has an immense potential of performing complex tasks in dynamic environments that are often precarious. Development of an efficient, low-cost and robust multirotor being the primary objective of this project, a didactic approach is maintained. In considerations of an optimal design, the mechanical structure as well as the electronics are designed using a CAD modelling software and a suitable material is selected that is unequivocally the most synthetically efficient. After a comprehensive study of dynamicsofaverticalflightandthrust calculations, desired specifications of propellersand brushless motors are set. Autonomous levelling of the system isachieved with a Flight Control Board having the functionality of P andI gains manipulation. These types of systems have a wide range of applications and have a controllable versatility. Using this project as a tool for integrating the knowledge of different disciplines as a mechatronic system, an inter-disciplinary method is predominantly emphasized. Key Words: Multirotor, Quadrotor, Quadcopterdesign,UAV 1. INTRODUCTION The spectrum of developing an adroit UAV (Unmanned Aerial Vehicle) has been witnessing an incessant growth as new technology disembarks day by day. The development of quadrotors hasn’t been untouched amidst this technological reform. While more and more quadrotors are being improvised and developed with distinctive purpose to enter the pool of wide range of applications including photography, defence,anddeliveryusingGPS navigation, the mankind is certainly achieving automation [1]. A basic quadrotor comprises of mechanical hardware along with the electronic components making it an inter- disciplinary system. This mechatronics project is explicitly aimed at helping the students familiarize with the modern technologies that are being usedinUAVs andunderstand the working principle. The system primarily consists of brushless DC motors, electronic speedcontrollers, electronic stabilization unit with 3-axis gyroscopeandaccelerometer,a radio receiver and transmitter. The design process is carried out with the help of CAD modelling software with the selected frame size and aluminium is used as frame material because it is light in weight and strong as well. The motors are selected pertaining to the desiredthrustrequirements.Ascertaininga methodical approach, an orderly procedure is followed throughout the build. 2. FRAME DESIGN AND 3D MODELLING 2.1 Frame Size Frame size, here in case of a quadrotor, is the proposed distance between the two vertical axes of diagonally opposite motors. The selection of frame size is the most fundamental and significant part of the build process. Most frequently used frame sizes for a quadcopter are 180 mm, 200 mm, 250 mm, 350 mm, 450 mm, 500 mm, etc. The smaller frame sizes are to be used when the ultimate purpose of the quadrotor is predominantly concerned with high speed application and a compact system. The larger frame sizes, on the other hand, are relativelyslowerinspeed and are suitable for high thrust applications. In case of this project, a moderate frame size of 450 mm is selected. Fig -1: Drafted views of Frame Figure 1 illustrates the drafted views of the frame that was modelled using CAD software, including the various dimensions. Some of the major dimensions: (All in mm) i. Length of each of the four arms(booms) = 198 ii. Cross-section of the arm = Square 25 x 25 iii. Base plate and Top plate (Square) = 150 iv. Holes = ϕ3, ϕ4, ϕ12
2.
International Research Journal
of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 04 Issue: 07 | July -2017 www.irjet.net p-ISSN: 2395-0072 © 2017, IRJET | Impact Factor value: 5.181 | ISO 9001:2008 Certified Journal | Page 2557 2.2 3-D MODELLING A better perspective is achieved through3Dmodellingof the design about the actual appearance of the quadcopter in reality. Figure 2 illustrates the assembled 3 dimensional view of the frame. Fig -2: 3D Model of Frame Figure 3 illustrates the final 3 dimensional viewofthemodel with all of the components assembled. Fig -3: Final 3D CAD Model 3. MOTOR SELECTION 3.1 BRUSHLESS DC MOTOR THEORY The use of brushes, present in the normal DC shunt motors, is eliminated in the BLDC motors, thereby reducing maintenance costs. TheoperationofBLDCmotorscomprises of stationary current-carrying coils and rotating permanent magnets [2]. Figure 4 illustrates the two types of physical BLDC motor configurations. a) b) Fig -4: a) Outer-rotor BLDC motor and b) Inner-rotor BL DC motor [2] The inner-rotor has coil windings along the outer periphery surrounding the magnets at the center. The outer-rotor has coil windings at the center being stationary enclosed by permanent magnets which rotates along with outer casing. This type of physical configuration is favoredovertheinner- rotor configuration for a multirotor system due to the need for lower energy magnets, reduced copper losses, reduced production costs, and greater rotor inertia [2]. 3.2 KV RATING OF MOTOR Theoretically, KV rating of motor is defined as increase in rotations per minute per 1V increase in the voltage without any load on the motor i.e. without propellers [3]. KV rating and torque generated by motorareinverselyproportional to each other. Lower KV rating motor coupled with larger size propeller tend to produce higher torque whereas higher KV rating motor coupled with smaller size propeller tend to produce less torque. The former combination is best suited for slow and high thrust applications and the latter is best suited for high speedapplications.Consideringourmoderate thrust application 1000 KV rating motors are selected and used.
3.
International Research Journal
of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 04 Issue: 07 | July -2017 www.irjet.net p-ISSN: 2395-0072 © 2017, IRJET | Impact Factor value: 5.181 | ISO 9001:2008 Certified Journal | Page 2558 4. WEIGHT AND THRUST CALCULATIONS Table -1: Weight of components SR. NO. COMPONENT WEIGHT (in grams) QUANTITY 1 Motor 50 4 2 ESC 40 4 3 Flight Control Board 40 1 4 Receiver 30 1 5 Lipo Battery 150 1 6 Connecting wires 50 1 7 Propeller 14 4 8 Frame 300 1 9 Miscellaneous 50 1 TOTAL 1036 Let W be the total weight of the system and T be the thrust generated. Thrust of each motor is 0.7 kg. (Provided by manufacturer) Therefore, available thrust to weight ratio is Now, considering thrust to weight ratio 2 : 1 Where, Wm is the maximum weight of the system. Therefore, available mission pod (M) is 5. CONTROL SYSTEM The control system of a quadrotor primarily consists of various electronic components including different types of sensors like accelerometer and gyroscope. The main flight controller, that is equipped with PID control, works as a brain and controls the system in order to achieve a stable flight. Fig -5: Schematic of the system Off the shelf (OTS) components are used as integrated parts of the control system. Table -2: Control system details Flight Control Board KK 2.1.5 3 axis gyroscope 3 axis accelerometer PI control ESC 30 A SimonK Battery 3S LiPo (12.6 V) Transmitter and Receiver 2.4 GHz 6 Channel The KK 2.1.5 flight controller board which is based on an 8 bit microcontroller is used to function as brain of the quadrotor system. Throttle, aileron, elevator and rudder maneuvering movements are controlled by the flight control board according to the signals received from the transmitter. Additionally, the FCB has an integrated PI (Proportional- Integral) control system for self-leveling of the quadrotor. The P and I gain values are tuned for optimal self-leveling.
4.
International Research Journal
of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 04 Issue: 07 | July -2017 www.irjet.net p-ISSN: 2395-0072 © 2017, IRJET | Impact Factor value: 5.181 | ISO 9001:2008 Certified Journal | Page 2559 Fig -6: Realization of project 6. RESULTS AND CONCLUSION This research work has resulted in successful design and development of a quadrotor. The hardware and electronic components used are entirely off the shelf which augments cost effectiveness. Table -3: P and I gain values CHANNEL P GAIN P LIMIT I GAIN I LIMIT Aileron 38 23 5 20 Elevator 38 23 5 20 Rudder 25 20 5 10 According to the control board response and its self-level functioning, all the P and I gain settings are calibratedforthe Roll/Pitch and Yaw/Rudder. This type of developedsystemcanbeaconvincingalternative to expensive quadrotor systems. Moreover, a didactic approach towards designinganddevelopingofsuchasystem will facilitate students to indulge and learn more about quadrotors. REFERENCES [1] Anurag Singh Rajpoot, Namrata Gadani, Sagar Kalathia, “Development of Arduino Based Quadcopter”, International Advanced Research Journal in Science, Engineering and Technology, Vol. 3, Issue 6, 2016, pp. 252-259. [2] D. L. Gabriel, J. Meyer, F. Du Plessis, "BrushlessDCMotor Characterisation and Selection for a Fixed Wing UAV", Proc. IEEE AFRICON, 2011, pp. 1-6. [3] https://oscarliang.com/quadcopter-motor-propeller/ [4] Prabhjot Singh Sandhu, “Development of ISR for Quadcopter”, International Advanced Research Journal in Science, Engineering and Technology, Vol. 3, Issue 4, 2014, pp. 181-189. BIOGRAPHIES Mr. Sajid Shaikh Final year student - Mechanical Engineering (SavitribaiPhulePune University, Pune). Mr. Ritesh Varpe Final year student - Mechanical Engineering (SavitribaiPhulePune University, Pune). Mr. Vaibhav Adhalage Final year student - Mechanical Engineering (SavitribaiPhulePune University, Pune). Mr. Akshay Virade Final year student - Mechanical Engineering (SavitribaiPhulePune University, Pune).
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