Click here to load reader

How to build your own Quadrocopter

  • View
    44.599

  • Download
    6

Tags:

Embed Size (px)

DESCRIPTION

A presentation held at SAPO CodeBits 2010 (http://codebits.eu/intra/s/session/114), describing the operational theory and basics as well as the building blocks of a remote-controlled model quadrocopter. A video of this talk can be found here: http://videos.sapo.pt/HZSIm9FUl3D3bfqmVcsv

Text of How to build your own Quadrocopter

  • How to build your own Quadrocopter Lenz Grimmer http://www.lenzg.net/ Twitter: @lenzgr SAPO Codebits 2010, Lisbon, Portugal
  • Outline Basics / Operational Theory Building Blocks References/URLs Demo
  • Features A VTOL UAV Simple to build Simple mechanics No servos required Parts Availability / Accessibility
  • Lab/Tech Requirements Soldering station Powerdrill / Dremel Others (Screwdrivers, Saws, Files) Power supply
  • Operational theory Physics Flight Dynamics Movement / Control
  • Physics 2 pairs of counter rotating props Compensate rotary momentum Different RPMs = different thrust
  • Flight Dynamics http://en.wikipedia.org/wiki/File:Flight_dynamics_with_text.png
  • Movement/Control Regular remote control Behaves like a helicopter Nick / Roll / Yaw Up / Down X, + or Y flight configuration Pilot skills
  • Momentum Compensation
  • Yaw/Rotation
  • Vertical Movement F F Ascending 4F mg F F 4F =mg 4F mg Descending mg
  • Nick/Roll F1 F2
  • Nick/Roll F1 F2
  • Building blocks Frame Motors Propellers Battery Electronics
  • Frame
  • Frame Center plate Arms Battery mount Motor mounts Protective dome Landing gear
  • Propellers
  • Propellers Diameter: 8, 10, 12 inch 2 blades Directly attached to motor 2 each rotating CW and CCW Proper balance reduces vibrations
  • Motors
  • Brushed Motor + -
  • Brushless Motor Phase A Phase C Phase B
  • Motors Brushless Outrunner vs. Inrunner Direct drive (no transmission) 3-phase powered Requires special BL controller Weight (g) / RPMs/V / max. current (A)
  • Brushless Controller
  • Brushless Controller Converts DC power to 3-phase AC signal Drive motor to indicated RPMs Controller speed is essential Receives RPM info from receiver/control unit PWM signal I2C UART (Serial)
  • Battery
  • Battery Lithium Polymer (LiPo) (or Lithium Iron Phosphate, LiFePo4) Lightweight High currents and capacity Handle with care! Voltage / Capacity / Max discharge / Weight
  • Power Distribution / Wiring Motor Motor Motor Motor Sensors RX BLC BLC BLC BLC Central Control Battery
  • Power Distribution
  • Power Distribution Supply the BLCs / Motors Supply the central controller / Sensors Support high currents Main switch or battery plugs Wires or PCB
  • Transmitter / Receiver
  • Transmitter / Receiver Frequencies: 35/40 MHz, 2.4 GHz Minimum: 4 channels Receiver output: PPM (sum signal) or individual channels from receiver (PWM)
  • Sensors
  • Sensors IMU Gyroscopes (Rotation) Accelerometers (Movement) Optional Pressure Sensor (Altitude) Compass/Magnetometer (Attitude) GPS (Location)
  • Central Controller
  • Central Controller Collects sensor data Receives control commands Calculates orientation/location Sends updated motor commands to BLCs Microcontroller (e.g. Arduino, ARM...)
  • Configuration Software
  • Accessories Camera mount Zigbee for telemetry data Video goggles
  • Legal aspects Check local laws for regulations Consider getting an insurance
  • Practical tips Double-check propeller positions and directions Double-check Flight Control orientation Avoid vibration where possible for stable flight Test outside, away from people Don't attach the propellers on the motors until everything is tested!
  • References / URLs Forums RCGroups - http://www.rcgroups.com/ DIYDrones - http://diydrones.com/ Portuguese Forum - http://forum.rcmpt.com/ Projects Mikrokopter - http://www.mikrokopter.de/ UAVP-NG - http://ng.uavp.ch/ Arm-O-Kopter - http://www.armokopter.at/ Arducopter - http://code.google.com/p/arducopter/ Aeroquad - http://aeroquad.com/ KK-Multicopter - http://kkmulticopter.com/ OpenPilot - http://openpilot.org/ Quadrocopter and Tricopter Info Mega Link Index http://www.rcgroups.com/forums/showthread.php?t=1097355
  • References / URLs Parts HobbyKing - http://www.hobbyking.com/ SparkFun - http://www.sparkfun.com/ DIYdrones - http://store.diydrones.com/

Build oar own
Build oar own
Documents
Build you own World
Build you own World
Documents
Build Own Patio
Build Own Patio
Documents
Build Your Own Arduino
Build Your Own Arduino
Documents
Build Your Own Brand
Build Your Own Brand
Marketing
- Build Your Own PC
- Build Your Own PC
Documents
Build Your Own Website
Build Your Own Website
Technology
Build Your Own Astrolabe
Build Your Own Astrolabe
Documents
Build your own THUNDERBIRD
Build your own THUNDERBIRD
Documents
BUILD YOUR OWN COCKTAIL
BUILD YOUR OWN COCKTAIL
Documents
Build your own planet!
Build your own planet!
Education
Autonomous Quadrocopter Design Review
Autonomous Quadrocopter Design Review
Documents
Build Your Own B
Build Your Own B
Documents
Build your Own Storage
Build your Own Storage
Documents
Build Your Own Drone
Build Your Own Drone
Documents
Build Your own iBeacon
Build Your own iBeacon
Devices & Hardware
Build Your Own Robot
Build Your Own Robot
Documents
Build Your Own House
Build Your Own House
Presentations & Public Speaking
Build Your Own Flamethrower
Build Your Own Flamethrower
Documents
Build your own cupcake
Build your own cupcake
Documents
Build Your Own Yurt -
Build Your Own Yurt -
Documents
Build your Own Cloud
Build your Own Cloud
Technology
Build Own Cockpit
Build Own Cockpit
Documents
Development of quadrocopter
Development of quadrocopter
Documents
Build Your Own Oatmeal
Build Your Own Oatmeal
Food
Build your own corpus
Build your own corpus
Education
Build your own ATV
Build your own ATV
Technology
Build your own computer!
Build your own computer!
Technology
Autonomous Quadrocopter Proposal
Autonomous Quadrocopter Proposal
Documents
Build your own Ambilight
Build your own Ambilight
Documents