answer should be a text file please. not handwritten Quadcopter Flight The purpo
ID: 2250405 • Letter: A
Question
answer should be a text file please. not handwritten
Quadcopter Flight The purpose of this project is to relate quadcopter flight to the concepts presented in engineering dynamics Your project deliverables shall be documented in report format. The report shall include the following 1. Introduction 2. Discussion of the orientation of rigid bodies during flight to include the roll, pitch, and yaw. 3. Discussion of rotation speed of the motors and how this effects steering 4. Discussion of hovering/altitude control. 5. Discussion or movement 6. Summary of how engineering dynamics relates to quadcopter flight Note: Expected report is two to three typed pagesExplanation / Answer
1.INTRODUCTION:
Our objective for this project was to design and build a quad-rotor aircraft (herafter referred to as quadcopter) that was capable of stable flight with manual radio control.More specifically our goal was to implement an microcontroller as the quadcopter's flight controller and program this with our own custom code. While there are many open source programs that enables boards to be used as flight controllers. We wanted to develop the code ourselves in order to learn more about what makes quadcopter flight possible. The purpose of this report is to describe results of the project and the steps that were necessary to reach those results.
2.QUADCOPTER ORIENTATION:
In order to stabilize the quadcopter, it is first crucial to determine the aircraft orientation (also called attitude) relative to the fixed inertial frame of the earth. This inertial frame consists of 3 orthogonal axes ( North, East & down ) and the rotations about these axes (Roll, pitch and Yaw ).
In order to attain stable flight, the roll and pitch axes must be stabilised. If these axes are not properly controlled the quadcopter will immediately tip over and be unable to fly. The roll and pitch attitudes of the aircraft are determined using the attitude sensor. In caes of our project, this was done using the gyroscope and accelerometer in conjunction in a manner which will be discussed in more details in subsection.
The yaw axis must also be relatively stable for the quadcopter to be controllable, but is less critical .Slight drift in the yaw axis is easily counteracted.Using the radio controller , usually will not result in a loss of control. Using only an accelerometer ans gyroscope , the absolute yaw orientation is in fact not measureable. Only the change in yaw orientation is measurable by using the gyroscope , but this proved to be sufficient to enable control of the quadcopter.
3.SPEED OF THE MOTOR:
Every motor needs an individual electronic speed controller (Esc for short ). These speed controllers accept commands in the form of PWM signals and output the appropriate motor speed accordingly. Every Esc has a current rating which indicated the maximum current that it may provide the motor without overheating. Appropriates Esc's must be choosen to ensure thatn they can provide enough current for the motors.
4.ATTITUDE CONTROL:
The attittude sensor provides the flight controller with readings of the quadcopter's orientation in space.At minimum this requires a gyroscope, but most quadcopters also incorporate an accelerometer. For a self stabilizing quadcopter an accelerometer is required.
5.MOVEMENT MOTORS AND PROPELLERS:
The motors spin the propellers to provide the quadcopter with lifting thrust. Quadcopters almost exclusively use brushless DC motors, as they provide thrust to weight ratios superior to brushes ,Dc motors. However they require more complex speed controllers.
6.DYNAMICS RELATES TO QUADCOPTER FLIGHT:
A quadcopter is inherently a ver unstable system.Anyone attempting to control a quadcopter with manual inputs only and no attitude sensor integration would quickly find that balancing the aircrafts is very nearly impossible. So to make the quadcopter a stable system, it is important to integrate an attitude sensor and a set of dynamic system controllers.
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