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# Quattro Copter - PowerPoint PPT Presentation

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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Presentation Transcript

### 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

• 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

States Vector

System Function

System Inputs

Sistem’s Stability

• Subsystem

• Operating Point

• Liapunov Function

[1]

[2]

• We choose inputs

[3]

• Results

[4]

Inputs Correlation

• Altitude Variation as a result of Roll/ Pitch andYaw

Matlab Simulation Model

• Simulation diagram

Final Model

First Experiments

• Stability

• Noise problems

• Brushed Motors

• A/D &Digital together

• Serial Com

• Software

• Personal Satisfaction

• Research Proposal