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Final Year Project Presentation

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This document summarizes the design, modeling, components, and control strategy of a quadcopter unmanned aerial vehicle. Key aspects include: 1) It uses four propellers powered by brushless DC motors for vertical take-off and landing, with yaw, roll, and pitch control achieved by varying motor speeds. 2) An IMU, microcontroller, and PID controllers provide attitude estimation and motor control. 3) A complementary filter fuses gyroscope and accelerometer data to estimate orientation with drift correction. 4) Wireless transmission of sensor data and live video enable remote control and monitoring of flight.

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Final Year Project Presentation
Design Fabrication Stabilization
Applications Remote Data Acquisition Rescue Operation Indoor and Outdoor Flight Surveillance
Modeling Mechanical Design Sensors and Actuators Signal Conditioning Control Strategy
An aircraft that is lifted and propelled by four propellers. Control and maneuvering is achieved by varying the relative speeds of the four rotors. Vertical Take Off and Landing
Yaw Roll/Pitch
 PRO-E simulation was used to determine:  Dimensions of the craft (0.25 m).  Total mass (1.5 kg) of the PVC structure  Moment of inertia (0.025 kg.m2) .  Propeller size (9 inch).  The results obtained enabled us to select a suitable BLDC motor for the quad rotor.
 9 Degrees of Freedom - Razor IMU ( Sparkfun.com)  Specifications of IMU.  LY530ALH (300°/s single-axis gyro),  LPR530ALH (300°/s dual-axis gyro),  ADXL345 (three-axis accelerometer),  HMC5843 (three-axis magnetometer)
 BLDC motor - out runner (the outer shell spins) is used  Specifications:  Weight: 56g  Voltage: 10V  KV: 1200 RPM/V  Max Efficiency Current: 15.5A  Max Power out: 180W.  An electronic speed controller (ESC) is used to control the speed of electric motors.  It is a pulse-width modulation (PWM) controller Turnigy Bell 2409-18T
 Two 2200mAh 3S 25C Lipo Packs and a separate battery used for electronic circuitry.  Size: 9 x 5  Clockwise and Counter-Clockwise orientation.
 dsPIC 30f5015 motor control series microcontroller for onboard computation.  All calculations were done in fixed point (signed Q15.16)  Capable of providing 4 simultaneous independent PWM’s  dsPIC features, hardware multiplier, 16 bit architecture  Operating with a clock multiplier to obtain 14MIPS.
User PC (ground station) Transceiver Base Station Transceiver Camera (wireless) Motors Gyroscopes Accelerometers Magnetometer Pressure Sensor Quadrotor Attitude PID Angle Estimate Correction Translation PID Reference Microcontroller
 IMU data is corrupted and has to be filtered to make it usable.  Gyro integration gives orientation but drifts over time.
 Accelerometer gives the gravity vector.  Integration of rate gyros gives attitude.  Noise in gyros:  Offset  White noise  Leads to drift  The ‘g’ reference vector from the accelerometer is used to correct this drift
 The gyro is integrated to give the roll and pitch.  obtain the calculated ‘g’ vector.  The error between the measured and calculated ‘g’ vector is adjusted into the gyro data. Gyroscope (rad/unit time) Compensation Roll/Pitch angle Accelerometer (rad/unit time) Error PID Cross Product Integration Estimated ‘g’ vector
 Results from Complimentary Filter
 Two options for orientation estimation  The Complimentary Filter:  does not require the system model  is optimized for microcontroller implementation  performance is comparable to the Kalman Filter Kalman filter Complimentary filter
 PID controller was used for roll and pitch control.  Larger P leads to faster response,  I used for reference tracking  D dampens the oscillations, reduces overshoot  A simulation was done using the mathematical model in MATLAB.  The gains found were fine tuned on the actual system
 Objective:  Sensing translation in X- axis  Sensing translation in Y- axis  Yaw computation
 Wireless camera over IP are very expensive.  Camera of the smart phone was used for live streaming.  Bluetooth link was used between the camera and the base station.  A Red Cross of the ground was used as reference for determining the position of the craft.
Image Acquistion Image Segmentation Blob Detection Blob Filtering & Analysis Centroid & Yaw Evaluation Error Computation
Final Year Project Presentation
Final Year Project Presentation
Final Year Project Presentation
Final Year Project Presentation
Final Year Project Presentation
Final Year Project Presentation
Final Year Project Presentation
Final Year Project Presentation
Final Year Project Presentation
Final Year Project Presentation
Translation control Wireless communication Ultra sonic sensor for object avoidance
Final Year Project Presentation
Final Year Project Presentation
Q & A Thank You !

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Final Year Project Presentation

  • 3. Applications Remote Data Acquisition Rescue Operation Indoor and Outdoor Flight Surveillance
  • 4. Modeling Mechanical Design Sensors and Actuators Signal Conditioning Control Strategy
  • 5. An aircraft that is lifted and propelled by four propellers. Control and maneuvering is achieved by varying the relative speeds of the four rotors. Vertical Take Off and Landing
  • 7.  PRO-E simulation was used to determine:  Dimensions of the craft (0.25 m).  Total mass (1.5 kg) of the PVC structure  Moment of inertia (0.025 kg.m2) .  Propeller size (9 inch).  The results obtained enabled us to select a suitable BLDC motor for the quad rotor.
  • 8.  9 Degrees of Freedom - Razor IMU ( Sparkfun.com)  Specifications of IMU.  LY530ALH (300°/s single-axis gyro),  LPR530ALH (300°/s dual-axis gyro),  ADXL345 (three-axis accelerometer),  HMC5843 (three-axis magnetometer)
  • 9.  BLDC motor - out runner (the outer shell spins) is used  Specifications:  Weight: 56g  Voltage: 10V  KV: 1200 RPM/V  Max Efficiency Current: 15.5A  Max Power out: 180W.  An electronic speed controller (ESC) is used to control the speed of electric motors.  It is a pulse-width modulation (PWM) controller Turnigy Bell 2409-18T
  • 10.  Two 2200mAh 3S 25C Lipo Packs and a separate battery used for electronic circuitry.  Size: 9 x 5  Clockwise and Counter-Clockwise orientation.
  • 11.  dsPIC 30f5015 motor control series microcontroller for onboard computation.  All calculations were done in fixed point (signed Q15.16)  Capable of providing 4 simultaneous independent PWM’s  dsPIC features, hardware multiplier, 16 bit architecture  Operating with a clock multiplier to obtain 14MIPS.
  • 13.  IMU data is corrupted and has to be filtered to make it usable.  Gyro integration gives orientation but drifts over time.
  • 14.  Accelerometer gives the gravity vector.  Integration of rate gyros gives attitude.  Noise in gyros:  Offset  White noise  Leads to drift  The ‘g’ reference vector from the accelerometer is used to correct this drift
  • 15.  The gyro is integrated to give the roll and pitch.  obtain the calculated ‘g’ vector.  The error between the measured and calculated ‘g’ vector is adjusted into the gyro data. Gyroscope (rad/unit time) Compensation Roll/Pitch angle Accelerometer (rad/unit time) Error PID Cross Product Integration Estimated ‘g’ vector
  • 16.  Results from Complimentary Filter
  • 17.  Two options for orientation estimation  The Complimentary Filter:  does not require the system model  is optimized for microcontroller implementation  performance is comparable to the Kalman Filter Kalman filter Complimentary filter
  • 18.  PID controller was used for roll and pitch control.  Larger P leads to faster response,  I used for reference tracking  D dampens the oscillations, reduces overshoot  A simulation was done using the mathematical model in MATLAB.  The gains found were fine tuned on the actual system
  • 19.  Objective:  Sensing translation in X- axis  Sensing translation in Y- axis  Yaw computation
  • 20.  Wireless camera over IP are very expensive.  Camera of the smart phone was used for live streaming.  Bluetooth link was used between the camera and the base station.  A Red Cross of the ground was used as reference for determining the position of the craft.
  • 21. Image Acquistion Image Segmentation Blob Detection Blob Filtering & Analysis Centroid & Yaw Evaluation Error Computation
  • 32. Translation control Wireless communication Ultra sonic sensor for object avoidance