Transcript QuadCopter Flight.pdf

“DATA ACQUISITION
SYSTEM USING AERIAL
VEHICLE”
Guided by:
Prof. D. K. Shedge
Presented by:
1. Iliyas A. Shaikh
2. Nikhil R. Patil
3. Dattatraya M. Paul
4. Aniruddha S. Joshi
LITERATURE SURVEY
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Few years ago in robotic system we use to do data
acquisition using manual wheel robot or autonomous
wheel robots in commercial & military application or
some remote disaster area.
So it was difficult for wheel robots to rome & take
survey for required given location.
Also it was difficult for wheel robots to go in building
to climb steps & also in destructed zone.
Aerial robots have much advantages compared to
other wheel robots or other robots.
It can find path easily & can travel as fast possible as
it can also move along Z plane compared to other
robot which travels only in X & Y plane only.
So, we have chosen to build Aerial Vehicle(i.e. Quad
copter) to gather environmental information from
remote areas.
INTRODUCTION
What is the project?
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Quad copter platform
Controlled by radio or autonomously
Can carry payload
Makes good robotic platform
Upgradeable in the future
INTRODUCTION(CONTINUED.)
In recent times there have been numerous
natural disasters that have left cities in ruins.
 The restoration process can be a very dangerous
job due to toxic waste and objects inaccessible to
humans which may require machines to do the
work.
 Our group offers an advanced solution to this
problem through the design of a quad copters.
 Using this approach, quad copters can reach
places that are inaccessible to humans because of
health risks & can continuously send the
information about the environmental situation at
those places.
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ABOUT THE QUAD COPTER
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The Quad copter is a flying object, which flies
with the help of 4 propellers at the end of arm.
Two opposite propellers rotates in one direction
for take-off.
First pair of opposite propellers rotates in
clockwise direction for keeping balance in X-axis.
Second pair of opposite propellers rotates in anticlockwise direction for balancing in Y-axis.
The reason of opposite direction of rotation of
opposite pair is the elimination of rotation of
quad copter in Z-axis
PRINCIPLE OF OPERATION OF
QUAD COPTER
Opposite propellers rotates in same direction
One pair of propeller rotates in clockwise direction
and other
pair of Propeller rotates in anti-clockwise direction
for take-off operation of the Quad copter
PRINCIPLE OF OPERATION (CONTD.)
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High torque & high rpm is required to lift the quad copter.
So, Brushless DC motor is used as it satisfies both the
requirements.
To move Quad copter in forward direction, the speed of
rotation of left & right motor is kept constant.
The speed of front motor is reduced & that of rear motor is
increased to some extend.
Similarly, for movement in left & right direction, the
respective motor speed is reduced & the speed of motor that
is opposite to it is increased
BLOCK DIAGRAM
COMPONENTS REQUIRED
ARM 7
 Radio trans-receiver
 Electronic speed controller
 BLDC motor
 Temperature sensor
 Humidity sensor
 Zigbee module trans-receiver
 Gyroscope
 Li-Po battery
 Wireless Camera transmitter & receiver
 LCD at monitoring system for displaying various
parameters like (temp., humidity, etc.)
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1. ARM 7
Features:
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16-bit/32-bit ARM7TDMI-S microcontroller in a tiny
LQFP64 package.
8 kB to 40 kB of on-chip static RAM and 32 kB to 512 kB of
on-chip flash memory
One or two (LPC2141/42 vs. LPC2144/46/48) 10-bit ADCs
provide a total of 6/14 analog inputs, with conversion times
as low as 2.44 μs per channel.
Two 32-bit timers/external event counters (with four
capture and four compare.
Low power Real-Time Clock (RTC) with independent power
and 32 kHz clock input channels each), PWM unit (six
outputs) and watchdog.
Power saving modes include Idle and Power-down.
CPU operating voltage range of 3.0 V to 3.6 V (3.3 V ± 10
%) with 5 V tolerant I/O pads.
2. RADIO TRANS-RECEIVER
Transmitter Specifications:
 Channels: 6
 Frequency band: 2.4GHz
 Program type :GFSK
 RF power:19db
 Support programmable channel output.
Receiver Specification:
 Channel: 6
 Frequency band: 2.4GHz
 Size: 45*23*13.5mm
 Weight: 12g
3. ELECTRONIC SPEED CONTROLLER
Specifications:
 Output: Continuous 25A, burst 35A up to 10
seconds.
 Input Voltage: 2-4 cells lithium battery or 5-12
cells NIMH battery.
 BEC: Linear 2A @ 5V
 Max Speed:
2 Pole: 210,000rpm
4. BLDC MOTOR
Specifications:
 Battery: 2~4 Cell /7.4~14.8V
 RPM: 1100/v
 Max current: 18A
 No load current: 1A
 Max power: 336W
 Weight: 70g (including connectors)
 Max thrust: 1130g
5. TEMPERATURE SENSOR LM35
Specifications:
 Calibrated directly in ° Celsius (Centigrade)
 Linear + 10.0 mV/°C scale factor
 0.5°C accuracy (at +25°C)
 Rated for full −55° to +150°C range
 Suitable for remote applications
 Operates from 4 to 30 volts
 Less than 60μA current drain
6. HUMIDITY SENSOR
Specifications:
 Rated Voltage: DC 5.0V
 Current Consumption <-3.0mA
 Operating Temperature Range : 0-60°C
 Operating Humidity Range : 30-90%RH
 Storable Humidity Range within 95%RH
 Standard Output Range : DC 1.980 mV (at 25°C,
60%RH)
7. ZIGBEE MODULE
Specifications:
 Incorporates High-Performance 32-bit ARM
Processor
 Integrated Standard IEEE 802.15.4 PHY and
MAC Layer
 Frequency - 2.4 GHz
 Operating Voltage - 2.1V to 3.6 Vdc
 Memory - 192Kb Flash and 12kB RAM
 A/D Input - Six Channels 14-bit
 Digital I/O - Up to 24
 250Kbps Data Rate
9. LI-PO BATTERY
Specifications:
 Minimum Capacity: 2200mAh (True 100%
Capacity)
 Constant Discharge: 20C
 Peak Discharge (10sec): 30C
 Pack Weight: 185g
REFERENCES & BIBLIOGRAPHY
www.electronicsforyou.com
 www.techtronix.com
Books:
 Robotics and control-by Nagrath & Mittal
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THANK YOU