Acknowledgment

We would like to use this opportunity to thank the University for allowing us to write this thesis,
which we have really enjoyed working on. Would also like to thank our appointed supervisors
form the university, which have been very helpful when there were need for assistance. The
faulty deserves credit for their willingness to fund our project and allowing us to use parts
available. Would like to thank the laboratory personnel for their great assistance during the build,
and to allow us to set up a permanent office at their location. Their fast response and
manufacturing time have allowed the project to progress without unnecessary delay.

Abstract
The popularity of quad copters are increasing as the sensors and control systems are getting more
advanced. The quad copter is naturally unstable, has a complex dynamic model and six degrees
of freedom. Even with four motors it is under actuated, and cannot move translative without
rotating about one of its axes. There are many commercially quad copters for sale, but was not
considered as it would result in a backwards design process where the design is decided before
the needs. The quad copter requires an extensive control system in order to fly. With many
parameters it is difficult to implement and tune a regulator for such system. In addition to an
even more complex regulator many sensors are needed in order to make the quad copter
autonomous. For the attitude estimation sensor fusion is required to get a robust and reliable
measurement. Based on the dynamic model the sensors needed was chosen. They were tested
one by one before implementation in a control system. A tilt regulator was able to stabilize the
quad copter around one axis in a test rig. Building a quad copter for an educational purpose, and
to discover and resolve itscomplexity is an experimental project, as this has never been done at
this university. The final quadcopterconcept is well suited for further experimental work.

Contents
Acknowledgment ........................................................................................................................... 1
Abstract .......................................................................................................................................... 2
List of Figure ................................................................................................................................. 4
List of Tables ................................................................................................................................. 5
List of Abbreviations .................................................................................................................... 6
List of Symbols .............................................................................................................................. 7
Chapter 1 Introduction ............................................................................................................. 8
1.1

History of Quadcopter .................................................................................................. 9

1.2

Reference Geometry ................................................................................................... 12

1.3

Coordinate System ...................................................................................................... 12

Chapter 2 Sensors and Components ..................................................................................... 14

2.1

AVR Controller .......................................................................................................... 14

2.2

Pin Descriptions .......................................................................................................... 15

2.3

Inertial Measurement Unit .......................................................................................... 17

2.4

RPM ............................................................................................................................ 18

2.5

ESC ............................................................................................................................. 20

2.6

RF Based Wireless Remote ........................................................................................ 20

2.7

Batteries ...................................................................................................................... 22

2.8

Propeller...................................................................................................................... 23

2.9

Motor .......................................................................................................................... 24

2.10 Position Estimation ..................................................................................................... 25

2.10.1

Global Positioning System .................................................................................. 25

2.10.2

Internal Navigation System ................................................................................. 25

Chapter 3 Quadracopter Dynamics ...................................................................................... 26

3

3.1

Quadrotor's kinematics and dynamics ........................................................................ 26

3.2

Quadrotor Flight Control Techniques........................................................................ 29

3.3

Quadrotor operation .................................................................................................... 32

Chapter 4 Canvas sheets ......................................................................................................... 33

Conclusion ................................................................................................................................ 39
Refrences .................................................................................................................................. 40

List of Figure
Figure 1- First flying quadrotor at 11 November 1922 by Etienne Oehmichen ........................... 10
Figure 2- Some experimental aircraft in the 1950s ..................................................................... 11
Figure 3 - The blue coordinates are the navigation frame, while the black is the body coordinates.
....................................................................................................................................................... 13
Figure 4 - AVR Controller ............................................................................................................ 14
Figure 5 - Pinout ATmega32 ........................................................................................................ 15
Figure 6 - ADIS16400 IMU from Analog Device ........................................................................ 17
Figure 7 - RF Based Wireless Remote .......................................................................................... 21
Figure 8 - Batteries used, to the right 5000 mAh and to the left 450 mAh................................... 22
Figure 9 - APC 12x6 propeller...................................................................................................... 23
Figure 10 - Hyperion ZS3020-10 .................................................................................................. 24
Figure 11 - Conceptual diagram of a quadrotor. ........................................................................... 26
Figure 12 - Quadrotor dynamics. .................................................................................................. 27
Figure 14 - Yaw, pitch and roll rotations of a common quadrotor. .............................................. 31
Figure 15 - Illustration of the various movements of a quadrotor. ............................................... 32

List of Tables
Table 1 - Phase voltage sequence for a brushless DC motor17
Table 2 - Quad rotor flight control techniques used in various projects....26

List of Abbreviations
CRC - Cyclic Redundancy Check
DCM - Direction Cosine Matrix
ESC - Electronic Speed Controller
FEM - Finite Element Method
FPGA - Field Programmable Gate Array
IMU - Inertial Measurement Unit
MV - Measured values
PWM - Pulse Width Modulation
RC - Remote Control
Rpm - Revolutions per minute
Rx - Receive
SbRIO - Single Board Reconfigurable Input/output
SP - Set points for the controller
SPI - Serial Peripheral Interface
TX - Transmit
UART - Universal Asynchronous Receiver/Transmitter
VI - Virtual Instrument, a Lab VIEW program
Sub VI - Subroutine in a Lab VIEW VI
Lipo - lithium polymer

List of Symbols
b - Referred to body frame, onboard.
n - Referred to navigation frame, fixed
- General angle
- General angular velocity
- Euler angle for the roll
- Euler angle for the pitch
- Euler angle for the yaw
- Transformation matrix from u-frame to v-fram

1 Chapter 1 Introduction

Autonomous quad copters are a part of the future. They have been researched in many
applications and some are capable of doing aggressive maneuvers. The main drawback with
those projects is however the price of the lab facilities. The quad copter is a perfect mechatronic
product and decided to dive into its complex knowledge. In this thesis a quad copter is built from
scratch, where the sensors and equipment are carefully selected.

The objective is to build a fully functioning quad copter sensor platform. The quad copter has to
be easy to program, have autonomous capabilities and be able to lift a payload of a couple of
kilograms. In addition to the physical elements the main aspects of the quad copter has to be
discovered. With four motors the quad copter has many degrees of freedom, but yet it is under
actuated so it cannot move translate without first rotate around one of its axes. The quad copter is
also naturally unstable. This in addition to the challenging dynamics of the quad copter, a stable
flight requires many sensors with high accuracy combined with a fast and robust control system.
The sensor data, especially from the inertial measurement unit which estimates the attitude, has
to be merged in order to get the most out of the system. As described in this report it is important
to understand the main challenges of the quad copter in order to control it. Prior to the master
thesis there was a preliminary project, the quad copter investigation.

In this project. The main design were founded and the major components were selected. The
report did also contain a literature chapter were it was focusing on the main difficulties with the
quad copter. The main problems while constructing a quad copter were often described as a lack
of good sensors and their reliability. Based on this research, a lot of times during this thesis were
spent on the sensors and how to get accurate and reliable signals.

The report have been divided in different chapters and ordered in the sequence that makes it easy
to follow the work progress. It starts with the coordinate systems and dynamics of the quad
copter. This enhances the knowledge of dynamics in 3D space. Then the sensors are selected and
tested. Based on the selected sensors method of estimating the attitude of the quad copter is
8

described. With the sensors tested and selected the construction can incorporate the sensors in
the process. Once the entire platform is complete a regulator for tilt control is designed. The
regulator and sensors are all programmed on the quad copter which then is ready for testing. The
testing starts in a test bench that tests the stability of the regulator for tilt around one of the axis.
When the quad copter is stable in the rig a free flight test is performed. Every discovery is
summarized in the conclusion chapter.

1.1 History of Quadcopter

A quad copter is an aircraft with four main propellers that provides lift. The four motors which
drives the propeller are fixed onto an frame that often is made like an cross, made from two
beams. The quad copter is almost exclusively used for small drones or radio controlled units
today, but there has been built full scale aircrafts. In 1922 an French engineer, Etienne Edmond
Oehmichen, built and flew his second helicopter design. This helicopter, "Oehmichen No.2", had
an X-shaped frame with an rotor at each arm. With this design, several records were set. In 1924
The model were the first rotary wing to complete flight to fly 1 kilometer.

Figure 1- First flying quad rotor at 11 November 1922 by Etienne Oehmichen

The quad copter is a popular concept for a drone, because of its properties. The major advantages
for the quad copter is its ability to hover, and takeoff vertically. This makes the quad copter
useful for many tasks and allows it to be operated in nearly any environments.

While an conventional helicopter design, which one main rotor and one tail rotor, have the same
properties, the quad copter is advantageous in several fields. The quad copter have no moving
parts except for the rotating motors and propeller that rotate about fixed axes, while the
conventional helicopter have a complex hub to make it possible to start an translative movement.
The quad copter is also less prone to vibration and it is more robust when it comes to the
placement of placement of center of gravity.

It is also easier, due to the small size, to cover the rotors and thus making it safer to fly indoors.
The typical design for an quad copter has as stated earlier, no moving parts. The motors and
theirs propellers are mounted onto the airframe, this configuration gives the quad copter an
10

interesting dynamic. Since the propellers are fixed to the frame, the only way to induce a lateral
motion is to tilt the entire airframe. This is also the reason for why the motors turning the same
direction is mounted opposite to each other, to be able to facility this operation.

Figure 2- Some experimental aircraft in the 1950s

To tilt the quad copter, the moment about one axis have to alter. To change the moment, one or
both motor have to either increase or lower its amount of thrust. If just one of the motors adjust
the thrust, there will be an unbalance in the rotational force about the yaw axis, therefore the
motors would have to increase and lower the thrust with the same amount to keep the quad
copter still about the yaw axis.

If the motors had been spinning opposite direction to each other, one could not regulate tilt,
without inducing another tilt or yaw moment. Unlike a conventional helicopter, the quad copter
does not have an tail rotor to help controlling the yaw motion. Instead the quad copter rely on
controlling the torque forces from the motors to control the yaw forces. Since the quad copter is
built with four motors where two are spinning clockwise (cow) and the other two spinning
11

counterclockwise (ccw), the torque from the motors will cancel each other. This is only valid as
long as each pair of motors have the same torque, if one of the motors gets a reduced torque the
aircraft will start to spin in the air.

1.2 Reference Geometry

In this chapter coordinate systems and reference geometry is defined. The chapter also defines
motor position and its direction of rotation. The last part of this chapter is a method to transform
from one coordinate system to another.

1.3 Coordinate System

When the quad copter is navigating in three dimensional space there are two different coordinate
systems present. One is the body coordinate system, indexed b, which is affected by the
motors. The other is the navigation frame, indexed n, were forces like gravitation has influence.
The body coordinate system will move along with the quad copter, while the navigation
coordinate system is the reference point for the quad copter. The reference coordinate system can
be placed anywhere, but has to be fixed once the quad copter starts moving. One assumption for
the coordinate systems is the neglected curvature of the earth. A quad copter has a limited area to
navigate in and this assumption will not affect any result. In avionics the Z-axis is normally
pointing towards the earth. To ease the comparison with other projects the-axis is also pointing
downwards in this project. The quad copter is able to rotate around its own axes within angular
velocity. This angular velocity is denoted as _ with an index for the corresponding axis.

12

Figure 3 - The blue coordinates are the navigation frame, while the black is the body
coordinates.

13

2 Chapter 2 Sensors and Components

In this chapter, the sensors and main components are described. The sensors are explained how
they work and there is also told why different sensors and sensor types were chosen. The chosen
sensors are also tested to be sure the measurements given is accurate. How the testing have been
performed and its results will be shown in a separate subsection to the particular sensor.

2.1 AVR Controller

A microcontroller is a small computer on single integrated circuit consisting of a relatively
simple CPU combined with support function such as a crystal oscillator, timers, and watchdog
timer, serial and analog I/O etc. In this project was using the ATMEL AVR microcontroller. The
AVR is a modified Harvard architecture 8-bit RISC single chip microcontroller which was
develops by Atmel. The AVR was one of the first microcontroller families to use on chip flash
memory for program storage, as opposed to one time programmable ROM, EPROM, or
EEPROM used by other microcontroller at the time.

Figure 4 - AVR Controller

14

In order to complete this project as soon as possible and reduce time from create PCB or etching,
the arduino main board is the best idea because the Arduino is an open source physical
computing platform based on a simple I/O board and a development environment that
implements the Processing. This Arduino also can be used to develop stand alone interactive
object or can be connected to software on computer. This Arduino Duemilanove will
automatically select the appropriate power supply.

Figure 5 - Pin out ATmega32

2.2 Pin Descriptions

VCC - Digital supply voltage.

GND - Ground.

Port B (PB7:0) - Port B is an 8-bit bi-directional I/O port with internal pull-up resistors (selected
for each bit). The Port B output buffers have symmetrical drive characteristics with both high
15

sink and source capability. As inputs, Port B pins that are externally pulled low will source
current if the pull-up resistors are activated. The Port B pins are tri-stated when a reset condition
becomes active, even if the clock is not running.
Port C (PC5:0) - Port C is a 7-bit bi-directional I/O port with internal pull-up resistors (selected
for each bit). ThePC5..0 output buffers have symmetrical drive characteristics with both high
sink and source capability. As inputs, Port C pins that are externally pulled low will source
current if the pull-up resistors are activated. The Port C pins are tri-stated when a reset condition
becomes active, even if the clock is not running.

Port D (PD7:0) - Port D is an 8-bit bi-directional I/O port with internal pull-up resistors
(selected for each bit). The Port D output buffers have symmetrical drive characteristics with
both high sink and source capability. As inputs, Port D pins that are externally pulled low will
source current if the pull-up resistors are activated. The Port D pins are tri-stated when a reset
condition becomes active, even if the clock is not running.

RESET - Reset Input. A low level on this pin for longer than the minimum pulse length will
generate are set, even if the clock is not running. Shorter pulses are not guaranteed to generate a
reset.

XTAL1 - Input to the inverting Oscillator amplifier and input to the internal clock operating
circuit.

XTAL2 - Output from the inverting Oscillator amplifier.

AVCC - AVCC is the supply voltage pin for Port A and the A/D Converter. It should be
externally connected to VCC, even if the ADC is not used. If the ADC is used, it should be
connected to VCCthrough a low-pass filter.

AREF - AREF is the analog reference pin for the A/D Converter.

16

2.3 Inertial Measurement Unit

The inertial measurement unit used onboard is the ADIS16400 from Analog Devices. The IMU
is a complete inertial system that include a triaxial gyroscope, a triaxial accelerations, and a
triaxial magnetometer. TheIMU communicates with the SPI protocol.

Figure 6 - ADIS16400 IMU from Analog Device

The gyroscope measures the angular velocity of the IMU. Gyros are not significant affected by
noise but they drift. The drift can, to a certain point, be corrected for. By integrating the angular
velocity around one axis the angle can be found.

= dt
The accelerometer can measure both static acceleration, like gravity, and dynamic accelerations.
The drawback of the accelerometer is that it is affected by white Gaussian noise. It is only
capable of measuring vector that has a component perpendicular to the earth, and cannot measure
absolute rotation parallel to the earth. For rotation around one axis the angle can be found by:
17

 = arc tan

2
2
+

The magnetometer measures the earths magnetic field. This field is perpendicular to the
gravitational field of the earth. This makes it possible to measure the lacking orientation from the
accelerometer. It is however not possible to measure angles parallel to the magnetic field.
The magnetometer angles are calculated as

= arc tan

2
2
+

The sensors in the IMU are complementary since they all can measure the same angle, but with
different methods.

2.4 RPM
There are many methods to measure the rpm of a brushless DC motor. The first method tested
was to measure the frequency of two of the motor phases. One advantage using this type of
sensor is that there is few components required, and none of them are mechanical. And compared
to an optical measurement it is unaffected by room lighting and no light source is required.

The phase sequence of the brushless DC motor is described below:

A

DC+

OFF

DC-

DC+

DC-

OFF

OFF

DC-

DC+

DC-

OFF

DC+

DC-

DC+

OFF

OFF

DC+

DC-

Table 1 - Phase voltage sequence for a brushless DC motor

18

During the three first steps phase A will be higher than phase B and vice versa for the next three
steps. If phase A and B are connected to a comparator the frequency of the phases can be
measured and hence thermo. A disadvantage is that some controller and motor combinations may
produce a lot of commutation noise which can cause false rpm readings. And because of this
method were rejected.

The method chosen for measuring the rpm was by using Hall Effect sensors.

Figure 4.6: hall Effect sensor

The Hall Effect sensors work on the principle that when a current moves through a conductive
material the voltage across the material will be zero volt. If a magnetic field were to be applied to
the material, small voltage would appear.

19

2.5 ESC
The choice of the ESC was done in the preliminary report. The ESC chosen is a YGE 60. The
ESCsuits the motors well with its maximum current of 60 amperes. The ESC has, in contrast to
most others commercial products, an option to receive signals up to 100 Hz.

High update frequency of the motors are desirable when it comes to the control system. The
YGE ESC also offers lower response time due to a lower internal resistance than the normal ESC
on the market. TheYGE controllers are a good choice for this project.

2.6 RF Based Wireless Remote

This circuit utilizes the RF module (Tx/Rx) for making a wireless remote, which could be used
to drive an output from a distant place. RF module, as the name suggests, uses radio frequency to
send signals. These signals are transmitted at a particular frequency and a baud rate. A receiver
can receive these signals only if it is configured for that frequency.

A four channel encoder/decoder pair has also been used in this system. The input signals, at the
transmitter side, are taken through four switches while the outputs are monitored on a set of four
LEDs corresponding to each input switch. The circuit can be used for designing Remote
Appliance Control system. The outputs from the receiver can drive corresponding relays
connected to any household appliance.

20

Figure 7 - RF Based Wireless Remote

This radio frequency (RF) transmission system employs Amplitude Shift Keying (ASK) with
transmitter/receiver (Tx/Rx) pair operating at 434 MHz. The transmitter module takes serial
input and transmits these signals through RF. The transmitted signals are received by the receiver
module placed away from the source of transmission.

The system allows one way communication between two nodes, namely, transmission and
reception. The RF module has been used in conjunction with a set of four channel
encoder/decoder ICs. Here HT12E & HT12D have been used as encoder and decoder
respectively. The encoder converts the parallel inputs (from the remote switches) into serial set
of signals. These signals are serially transferred through RF to the reception point. The decoder
is used after the RF receiver to decode the serial format and retrieve the original signals as
outputs. These outputs can be observed on corresponding LEDs.

21

Encoder IC (HT12E) receives parallel data in the form of address bits and control bits. The
control signals from remote switches along with 8 address bits constitute a set of 12 parallel
signals. The encoder HT12E encodes these parallel signals into serial bits. Transmission is
enabled by providing ground to pin14 which is active low. The control signals are given at pins
10-13 of HT12E. The serial data is fed to the RF transmitter through pin17 of HT12E.

2.7 Batteries
The batteries is a major component in this project. The reason for its importance is because it is
the component that will decide how long the quad copter can be airborne and it is also the
heaviest components mounted. The choice was lithium polymer (lip) batteries due to their good
power to weight ratioandtheir ability to deliver enough output power.

Figure 8 - Batteries used, to the right 5000 mAh and to the left 450 mAh

22

To reduce the total weight two motors use the same battery. The motor battery is a three cell lipo
from Flight power. These batteries yields 11.1 volts and 5000 mAh to drive the motors. It can
continuously feed150 amperes and peak up to 300 amperes.

The sbRIO also need power and so do the sensors. The controller board requires 19-30 volts,
which is above what a regular three cell lipo battery is capable of. To achieve the high volt two
batteries were coupled inseries. The batteries are made by Hyperion and yields 11.1 volts and
450 mAh.

2.8 Propeller
The propeller was chosen in the pre-study for this thesis. It was concluded that the choice should
beAPC 2x6 propellers. This is a nylon propeller, 12 inches long and with a pitch of 6 inches. The
pitch tells that in one rotation the propeller would move 6 inches in translative direction.

Figure 9 - APC 12x6 propeller

23

The propeller was chosen by the fact that they could easily be bought as both regular and pusher
version. Pusher propellers are mirrored versions that is optimized to rotate in clockwise rotation
instead of counterclockwise. They also put out enough power to implement other sensors or
equipment on a later stage.

2.9 Motor
The motors selected for the quad copter were also decided in the pre-study. The motors chosen
are Hyperion ZS 3020-10. This motor is a BLDC motor made for model aircrafts. The reason for
the choice of this motor is its easy to get a hold of and its fits well with the propellers chosen.

Figure 10 - Hyperion ZS3020-10

The motor is very powerful with 456 watts and a low kV rate of 922 . The low kv is desirable
as this means it has less rotational speed and higher torque.

24

2.10 Position Estimation

An important feature for an autonomous robot is its ability to know where it is at any time. There
are several methods to solve position calculation, ranging from triangulation from known
positions in the area to internal navigation system thats calculate an approximated position with
the help from onboard sensors.

2.10.1 Global Positioning System

GPS is a good method to use while moving outdoors. The information is gathered from satellites
and calculated to give the current position of the receiver. Information of position, heading and
velocity can easily be calculated and used to verify the robots current position. The quad copter
has been fitted with a GPS module. As the plan for this project at this stage is to fly indoor the
GPS was merely mounted to the quad copter for later use. Even though the GPS is not used in
the
Control system, a program was made to read the information from the GPS to make sure the
module was working properly.

2.10.2 Internal Navigation System

INS is used by many autonomous vehicles. This system bases on the information gathered from
sensors without external references. A method to calculate the position is with the help of
accelerometers and gyros. The accelerometer used in this project has an limit of 18 g. This
makes the INS inaccurate due to its lowresolution.A problem with an INS is the fact that it will
become inaccurate over time and it would need some sort of sensors to update the position.
However the quad copter is to fly indoor at this stage hence disturbances like wind will not
induce an angle on the quad copter translate movement. The thought for this project was to use
the dynamic model from together with the attitude of the quad copter to estimate the position.
Unfortunately the constrained amount of time, did not allow this subject to be further explored
and the INS were unfortunately not implemented to the quad copter.

25

Chapter 3 Quadra copter Dynamics

2.11 Quad rotors kinematics and dynamics

As illustrated by the conceptual diagram in Figure 11, the quad rotor attitude is controlled by
varying the rotation speed of each motor. The front rotor (Mf) and back rotor (Mb) pair rotates in
a clockwise direction, while the right rotor (Mr.) and left rotor (Ml) pair rotates in counterclockwise direction. This configuration is devised in order to balance the drag created by each of
the spinning rotor pairs. Figure 11 shows the basic four maneuvers that can be accomplished by
changing the speeds of the four rotors. By changing the relative speed of the right and left rotors,
the roll angle of the quad rotor is controlled.

Figure 11 - Conceptual diagram of a quad rotor.

26

Similarly, the pitch angle is controlled by varying the relative speeds of the front and back rotors,
and the yaw angle by varying the speeds of clockwise rotating pair and counter-clockwise
rotating pair. Increasing or decreasing the speeds of all four rotors simultaneously controls the
collective thrust generated by the robot. A roll motion can be achieved while hovering by
increasing the speed of the right rotor, while decreasing the speed of the left rotor by the same
amount. Hence, the overall thrust is kept constant.

(a) Quad rotor thrust(b)Rolling torque

(c)Pitching torque

(d)Yawing torque

Figure 12 - Quad rotor dynamics.

Upward Force (Thrust): The total quad rotor thrust is the sum of the thrust produced beach
propeller, as depicted in Figure 12(a):

27

Rolling Torque: This is the torque produced by increasing the left rotors thrust while
decreasing that of the right rotor, or vice versa, as shown in Figure 12(b):

Pitching Torque: The pitching torque in Figure 12(c) is produced by increasing the front rotors
thrust while decreasing that of the back rotor, or vice versa:

Yawing Torque: The yawing torque is the result of all four individual torques generated due to
the spinning rotors. The front and back rotors spin in the clockwise direction, while the left and
right rotors spin in the counterclockwise direction. As shown in Figure 12(d), balance between
these two pairs results in a yawing torque causing the quad rotor to rotate about its z-axis.

28

2.12 Quad rotor Flight Control Techniques

Table 2 - Quad rotor flight control techniques used in various projects

29

2.13 Quad rotor operation

Each rotor in a quad rotor is responsible for a certain amount of thrust and torque about its center
of rotation, as well as for a drag force opposite to the rotorcrafts direction of flight.
Thequadrotors propellers are not all alike. In fact, they are divided in two pairs, two pusher and
two puller blades that work in contra-rotation. As a consequence, the resulting net torque can be
null if all propellers turn with the same angular velocity, thus allowing for the aircraft to remain
still around its center of gravity.
In order to define an aircrafts orientation (or attitude) around its center of mass, aerospace
engineers usually define three dynamic parameters, the angles of yaw, pitch and roll. This is very
useful because the forces used to control the aircraft act around its center of mass, causing it to
pitch, roll or yaw. Changes in the pitch angle are induced by contrary variation of speeds in
propellers 1 and 3 (see Figure 14), resulting in forward or backwards translation. If we do this
same action for propellers 2 and 4, we can produce a change in the roll angle and we will get
lateral translation. Yaw is induced by mismatching the balance in aerodynamic torques (i.e. by
offsetting the cumulative thrust between the counter-rotating blade pairs). So, by changing these
three angles in a quad rotor we are able to make it maneuver in any direction.

30

Figure 13 - Yaw, pitch and roll rotations of a common quad rotor.

31

Figure 14 - Illustration of the various movements of a quad rotor.

32

3 Chapter 4Canvas sheets

Fig: Empathy Making Canvas.

User:
Military is the user of our project.
Stakeholder:
Engineers, Army
Activity:
Activity related to our project is like, Spy, Videography, Delivery, War machine, Patrolling, Capturing.

33

Story Boarding:

Happy Story
1. During the war between Ind-Pak Quadcopter was the reason after the success of Indias
victory, Quadcopter (dome) was helpful in spying on opponents.
2. It was used in Royal wedding to capture the vast area and beautiful moments of wedding.
Sad Story
1. On April 7, Sympotine medical college was attacked by terrorist and many military
officers were injured and few of them lost their lives.
2. During Drought, lots of people died due to hunger, if there were any Ariel vehicle, their
lives would have been saved by supplied of food products or a delivery.

34

Fig: Ideation Canvas

People:
People related to our project are Farmers, Security, product supplier, Detectors.

Activity:
Activity happens in capturing, patrolling, war machine, video graphy, spy, delivery, photography.

Situation/Context/Location:
Situations is like Hazardous area where recording of the scene is required but the normal reporter is not
able to go.

Props/Possible solution:
Props are movement detection it done through frame designing, stability of copter and propellers.

35

Fig: Product Development Canvas.

Purpose:
Main purpose of our project is totally helpful in security purpose, emergency rescue, farming,.
People:
There are number of people use this product such like Police, photographer and news reporters.
Product Experience:
This product is time saving and low cost and used in emergency, people gets full satisfaction.
Product Function:
Main faction of this product is self stability and remotely operated.

36

Product Feature:
The various features of this product are like, recording, patrolling.

Components:
Main components used in project are Motors, batteries, propellers, brushless DC motors,
Electronic speed controller (ESC).
Customer Revalidation:
Some gives comments on our project is increment in mobility, enhancement in frame and
increasing in throttle power.

Reject,Redesign,Retain:
Some customer rejected because problem in tuning, improper tuning.

37

Fig: AEIOU Summary.

Environment:
There are many different Environment in cloudy, rainy, clean, Dusty, Foggy.
Interaction:
Many type of interactions group discussion, guide, field experts.
Objects:
Objects are used in product are sensor, wirless-remont, controller, IMU, ESC.

Activities:
Activites held in spy,war machines, photography, delivery, patrolling, videography.

38

User:
There are many users of product which are fire-brigeder, reporter, police, director, army.

39

Conclusion
The main objective of this thesis was to design and control a quad rotor prototype, having a triaxis accelerometer and a compass as its sensors.

In the first phase of this thesis, objectives were defined for the quad rotor design, and based on
them a study was carried out on the electronics that would be part of the aircraft. This analysis
resulted in the construction of a quad rotor capable of achieving Take-Off without using the
motors at full throttle, leaving plenty of extra space for manoeuvrings.
Knowing the characteristics of our quad rotor, we proceeded to the modelling of the aircrafts
dynamics and kinematics for implementation of the resulting equations in a computer simulation
environment. The modelling of the motors was achieved due to the use of data collected for
identification which originated from the capture of sound of the propellers. This technique was
based on the fact that a microphone is capable of sensing the pressure wave resulting from the
passage of a propeller, and therefore, by measuring the period of each rotation, it is possible
determine the angular speed of the motor-propeller assembly. This technique proved to be
effective only for high angular velocities. Following this logic, the accelerometer and the
compass were also modelled so that the computer simulations could better portray reality.

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