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Quattro Copter

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

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  1. Quattro Copter Design & Development of a Quad Rotor MAV Beniamin Apopei

  2. 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

  3. Why 4 propellers? • Problems: • Coupled inputs • Complicated rotor mechanics • Watts / Weight Efficiency • Reaction Torque

  4. 4 Propellers Model

  5. Mathematic Model States Vector System Function System Inputs

  6. Sistem’s Stability • Subsystem • Operating Point • Liapunov Function [1] [2] • We choose inputs [3] • Results [4]

  7. Inputs Correlation • Altitude Variation as a result of Roll/ Pitch andYaw

  8. Matlab Simulation Model • Simulation diagram

  9. Visual Interface

  10. Final Model

  11. First Experiments • Stability • Noise problems • Brushed Motors • A/D &Digital together • Serial Com • Software • Personal Satisfaction • Research Proposal

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