Design & Fabricationof Quad copter for surveillance purpose

BY:Prasanna kumar.Achanti (11331A03C6)Ravindra.Sunkari (11331A03F7)

GUIDED BY: SRI M. K NAIDU

INTRODUCTION: Quad rotor, is a multi rotor helicopter that is lifted and propelled by four rotors. Unlike most helicopters, quad copters use two sets of identical fixed pitched propellers; two clockwise (CW) and two counter-clockwise (CCW). These use variation of RPM to control lift and torque. These vehicles were among the first successful heavier-than-air vertical takeoff and landing(VTOL) vehicles. It is a type of a small representation of unmanned Aerial Vehicle(UAV).

A four rotor helicopter designed by Louis Breguet in 1907. This was the first rotary wing aircraft to lift itself off the ground, although only in tethered flight at an altitude of a few feet.

on April 14, 1924 it established the first-ever FAI distance record for helicopters of 360 m (390 yd). It demonstrated the ability to complete a circular course and and later, it completed the first 1km closed-circuit flight by a rotorcraft. In the last few decades, small scale unmanned Ariel vehicles (UAVs) have become more commonly used for many applications.

BRIEF OVERVIEW:

There are many types of multi rotor people make nowadays. Some of them are Mono copter, Twin copter, Tri copter, Quad copter, Y-6, Hexa copter, X-8, Octa copter.

Based on design, Quad copters are of two types. One is PLUS configured and the other is X configuration.

In X configuration two arms will face front side while in + configuration only one arm will face front side.

TYPES OF MULTIROTORS:

BASIC CONFIGURATIONS

Frame Centre plate Landing skid Flight controller Motors Propellers ESCs Battery

COMPONENTS OF QUADCOPTER:

FRAME, ARM, CENTRE PLATE & LANDING SKID: frame supports motors and other electronics and

prevents them from vibrations. can make Center plate & arm from any material like CF, PVC pipes, Aluminium or Wood but make sure it has enough strength to withstand impact and rough landings.

FC(Flight Controller): Hobbyking v1, v2.1, v3.0 boards/KK boards have gyro

sensor only but still they are best beginner boards.

ESC(Electronic Speed Controller), BATTERY: ESC supplies power from battery to motors. Its ampere

rating should be more than motor’s rating i.e. 18amps.

SELECTION OF COMPONENTS:

MOTOR SELECTION : some important specifications are Kv, Maximum current(A),

Shaft diameter, Thrust, Weight, Suggested propeller.

BATTERY SELECTION: 1) Each brushless motor needs 18amps So, 4x18amps=72amps 2) auxiliary equipment like camera needs =10amps *So, 3300mah=3.3ahx30c=99amps. Hence we have selected the

3300mah,11.1v,li-po battery.

PROPELLER SELECTION: According to the motor specifications we have selected 10x4.5”. Lower

the pitch value, higher will be the stability of flight.

frame(500x500mm) & weight 380gms

Motors: 1200kv, 18A, ø28mm of 38gms,750gms thrust each.

Propellers: 10x4.5 inch(diameter x pitch)

Esc: turnigy 25 amps of 22gms each

Battery: 11.1v, 3300mAh, 3s, 30c of 335gms

DESIGN SPECIFICATIONS:

Total Thrust = 2x(AUW)AUW=All Up Weight (weight of frame + battery + circuit)

KV= RPM/VoltageAt no load:For 1200kv motor: RPM=1200*11.1volts=13320rpm=222RPS

For 10x4 or 7x4 propellers: Speed=4*222=888inch/sec=22.55m/sec

CALCULATIONS:

In order to calculate the impact force acting on the body when it falls from a certain height, work energy theorem is used.

Work – Energy Theorem:0.5*M*(V)2 = F*S V=sqrt*(2*g*H)Change in kinetic Energy = 0.5*1.5*(24.49)2consider, (H = 30m) = 465JWork = F*S = 465J F= 465J/30m = 15.5N.

Momentum Change: (M2V2-M1V1)/T =Mg – FSimilarly on calculations F= -22.5N (upwards)So, the force of Impact is multiplied four fold in static structural analysis and applied 40N on each leg.

FLIGHT CONTROLS:

MICRO CONTROLL

ER

DRIVERS

MOTORS

,M

OTOR

DRIV

ERS

DRIVERS

M

OTORS

DRIVERS

MOTORS

BLOCK DIAGRAM

CREO MODEL:

MODEL ANALYSIS:

According to impact analysis, the Impact load falls on the entirequad copter is = 14N .

In structural analysis we took triple Its value i.e., 40N load on each leg.

Finally F.O.S attained = (310Mpa/10Mpa)=31.

Surveillance military and law enforcement Research platform Commercial use Recreational use Traffic & civil policing

APPLICATIONS:

VIDEO SHOWING THE FLIGHT

VIEW FROM SURVEILLANCE CAM

A Survey on Remotely Operated Quad rotor Aerial Vehicle using the Camera Perspective. Published by Debadatta Sahoo, Amit Kumar, K. Sujatha of Dr M.G.R University and is published in International Journal of Computer Applications (0975 – 8887) Volume 11– No.10, December 2010

Model development, system identification, and control of a quad rotor helicopter by Matt Rich Iowa State University Ames, Iowa in 2012.

Zhang, Y., et al. "Development of the model and hierarchy controller of the quad-copter." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 222.1 (2008): 1-12.

 Sa, Inkyu, and Peter Corke. "Estimation and control for an open-source quadcopter." Proceedings of the Australasian Conference on Robotics and Automation 2011. 2011.

 Bemporad, Alberto, C. A. Pascucci, and Claudio Rocchi. "Hierarchical and hybrid model predictive control of quadcopter air vehicles." Analysis and Design of Hybrid Systems. Vol. 3. No. 1. 2009.

LITERATURE REVIEW:

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