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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


    4 propellers model
    4 Propellers Model


    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



    Final model
    Final Model


    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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