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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 , constructi on , matlab simul ation and control

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quattro copter

Quattro Copter

Design & Development of a Quad Rotor MAV

Beniamin Apopei

general description
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
Why 4 propellers?
  • Problems:
      • Coupled inputs
      • Complicated rotor mechanics
      • Watts / Weight Efficiency
      • Reaction Torque
mat h ematic model
Mathematic Model

States Vector

System Function

System Inputs

sistem s stability
Sistem’s Stability
  • Subsystem
  • Operating Point
  • Liapunov Function

[1]

[2]

  • We choose inputs

[3]

  • Results

[4]

inputs cor r ela tion
Inputs Correlation
  • Altitude Variation as a result of Roll/ Pitch andYaw
matlab simulation model
Matlab Simulation Model
  • Simulation diagram
first experiment s
First Experiments
  • Stability
  • Noise problems
  • Brushed Motors
  • A/D &Digital together
  • Serial Com
  • Software
  • Personal Satisfaction
  • Research Proposal
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