Design, Fabrication And Analysis Of Quadrotor

Abstract

This paper aims at the design, fabrication and analysis of a quadrotor. It is a UAV that gets its thrust and lift by adjusting the relative speeds of four engines (motors). There are many notable works done in this section, currently Boeing and Bell are building a Quad Tilt Rotor (QTR) with a huge payload carrying capacity. So building a quadrotor will give an opportunity to study the dynamic behavior, governing control system, and sensor filtering techniques. Here in this paperwork a quadrotor is build out of aluminium with a take-off weight of around 1.6 kg and the model is capable of flying indoor or outdoor with an optimal wind speed. To make a stable flight it is equipped with an accelerometer, gyroscope, magnetometer and a barometer.

            To give it a small amount of autonomy it is equipped with Obstacle Avoidance system which uses Infrared and Ultrasonic sensors. It is also equipped with ‘Fly Home’ technique that will fly the quad to its starting point in case of signal loss from the ground control system. A PI controller is used to control the stability and a Kalman filter to filter the errors bound by vibrations, noise etc. The final model will be tested by making it to fly in the outdoor. This quad can be used for surveillance, collecting test samples from hazardous environment, photography, vehicle traffic monitoring etc. In future, algorithms can be built with this base model using vision system to explore unknown surroundings, navigate full autonomously, target tracking etc.