quattro copter
DESCRIPTION
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 - PowerPoint PPT PresentationTRANSCRIPT
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14/09/2005
Quattro Copter
Design & Development of a Quad Rotor MAV
Beniamin Apopei
![Page 2: Quattro Copter](https://reader035.vdocument.in/reader035/viewer/2022062410/568158ec550346895dc62ba5/html5/thumbnails/2.jpg)
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
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Why 4 propellers? Problems:
Coupled inputs Complicated rotor mechanics Watts / Weight Efficiency Reaction Torque
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4 Propellers Model
![Page 5: Quattro Copter](https://reader035.vdocument.in/reader035/viewer/2022062410/568158ec550346895dc62ba5/html5/thumbnails/5.jpg)
Mathematic Model
System Function
States Vector
System Inputs
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Sistem’s Stability
Subsystem Operating Point Liapunov Function [1]
[2]
We choose inputs [3]
Results
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Inputs Correlation
Altitude Variation as a result of Roll/ Pitch andYaw
![Page 8: Quattro Copter](https://reader035.vdocument.in/reader035/viewer/2022062410/568158ec550346895dc62ba5/html5/thumbnails/8.jpg)
Matlab Simulation Model
Simulation diagram
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Visual Interface
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Final Model
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First Experiments
Stability Noise problems Brushed Motors A/D &Digital together Serial Com Software Personal Satisfaction Research Proposal