14/09/2005

Quattro Copter

Design & Development of a Quad Rotor MAV

Beniamin Apopei

General Description

Goals: Vertical Take off and Landing MAV Stable and Maneuverable Flight Time >10 min Minimum Payload: 250g As small as possible Design, construction, matlab simulation and control

Achievements: 4 propellers MAV, 6 DOF Physical and Mathematic modelling. Matlab simulation Visual Interface for Control and Monitoring Take off, stable hovering and landing

Why 4 propellers? Problems:

Coupled inputs Complicated rotor mechanics Watts / Weight Efficiency Reaction Torque

4 Propellers Model

Mathematic Model

System Function

States Vector

System Inputs

Sistem’s Stability

Subsystem Operating Point Liapunov Function [1]

[2]

We choose inputs [3]

Results

121110987 ,,,,, xxxxxxX

0,,0,,0, 1197dddd xxxX

2

212

2

1111210

2

9928

2

77 xxxxxxxxxXV

ddd

1)( CXV

412121111310109928877 UI

lxxxxU

I

lxxxxU

I

lxxxxV

z

d

y

d

x

d

12311114

102993

81772

xkxxIU

xkxxl

IU

xkxxl

IU

dz

dy

dx

03212

2210

128

zyx I

lkx

I

lkx

I

lkxV [4]

Inputs Correlation

Altitude Variation as a result of Roll/ Pitch andYaw

Matlab Simulation Model

Simulation diagram

Visual Interface

Final Model

First Experiments

Stability Noise problems Brushed Motors A/D &Digital together Serial Com Software Personal Satisfaction Research Proposal