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Vol. 16 | MARCH 2015 ISSN-3347-4482

Journal of The International Ao!iation of A"#an!e"Te!hnolo$% an" S!ien!e

Design, Analysis and Fabrication of Quadcopter

Prof.A.V.Javir 1, Ketan Pawar

, !antos" D"udu#

$, %itin Patale

&,!us"ant Patil

'

1 Assistant Professor in Mechanical Engineering Department of Rajendra Mane college of Engineering And Technology,

Ambav(Ratnagiri M!mbai "niversity, #ndia$,%,& '

)t!dent in Mechanical Engineering Department of Rajendra Mane college of Engineering And Technology, Ambav(Ratnagiri M!mbai "niversity, #ndia

1 [email protected],




5 [email protected].

Abstract— Quadcopter also known as quadrotor is the next form of helicopters having more dynamic stability than helicopters.They play a predominant role in different areas like surveillance, military operations, fire sensing and some important areashaving many complexities. This paper focuses on the aerodynamic effects of quadcopter. t addresses all the aspects of quadcopter ranging from mechanical design to electronics used. t provides backup to the selection of different components with the help of various formulas from research papers. t also gives clear results with respect to weight of components and their corresponding costs. Along with this, finite element analysis is done on the frame so as to sustain the loads generated in the vehicle and concluded that small deformation occurred on the center plates are safe and within the limit.

!eywords ( )Quadrotor, Aerodyna#ics, *lectronics, Finite *le#ent Analysis, Fra#e etc.+

. INTRODUCTION

Quadcopters also -nown as uadrotors or #ultirotor aircrafts are e#erging favorites in un#anned aerial ve"icle /0AVdesign. 2"is is due to t"eir ability to "over in congested areas and vertical ta-eoff and landing /V234 capabilityQuadcopter consist of four rotors w"ic" are fi5ed at t"e end of t"e fra#e structure. n t"is case, a pair of rotors along t"ear#s of t"e fra#e rotates in cloc-wise direction w"ile t"e re#aining pair of rotors rotates in anticloc-wise direction.Due to t"is, t"e resultant torue acting on t"e air fra#e structure is 6ero. *ac" rotor is connected to fi5ed pitc" propellers. 2"e basic idea of a uadcopter is s"own in following figure.

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Fig.1. sc"e#atic diagra# of uadcopter

. CONTENT

A* Problem definition

2"ere are several proble#s faced in e5isting syste#s, particularly in t"e field of transportation w"ic" are listedas follows7

1 +ostly2o deliver parcels fro# one place to ot"er leads to increased fuel consu#ption and t"is t"erebyincreases air pollution and e5penditure.

-arge amo!nt of man.po/er2ransportation of goods is not li#ited to a particular area so, largenu#ber of s-illed #anpower is reuired for transporting parcels.

$ Topographical limitations2opograp"ical aspects #ay vary fro# place to place t"us putting additional

burden on "u#an s-ills.

& 0!man Endangerment*#otions suc" as fear, nervousness and tension can lead to wrong decisionw"ic" #ay result in fatal conseuence.

* 2bjectives

1 2o study uadcopter flig"t dyna#ics. 2o deter#ine a suitable uadcopter 89 0AV design.

+* 3!adcopter flight dynamics

Quadcopter operates wit"in two fra#es of reference. First is its own fra#e of reference w"ic" is ter#ed as

body fra#e w"ereas t"e second is #easured relative to world fra#e of reference w"ic" is ter#ed as inertial fra#e. ncase of body fra#e, t"e rotor a5es are pointing in positive 6 direction wit" t"e ar#s pointing in 5 and y directions /Fig w"ile in case of inertial fra#e, t"e gravity pointing in t"e negative 6 direction /Fig $.

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Fig. .:ody fra#e Fig.$. nertial fra#e

Quadcopter is lifted up "ig" in t"e air wit" t"e "elp of propellers. 2"ese propellers convert rotational #otion

into t"rust and t"is can be e5plained wit" t"e "elp of :ernoulli;s principle and %ewton;s t"ird law.*very action "as eual and opposite reaction.

Fig.& . Air foil

1 erno!lli4s principle :ernoulli;s principle states t"at for an inviscid flow of no conducting fluid,

and increase in t"e speed of fluid occurs si#ultaneously wit" a decrease in pressure or a decrease in t"e fluid;s potential energy.

5e/ton4s third la/An air foil is t"e s"ape of t"e wing or blade as seen in t"e cross section, w"en

#oved t"roug" a fluid produces an aerodyna#ic force. Due to airfoil s"ape of t"e propeller, t"e air #oves faster over t"e top t"an under t"e botto# w"ic" results in a greater pressure difference below t"e airfoil t"an above it. 2"is pressure difference in turn produces t"e reuired t"rust.

D. Thr!st +alc!lations2"e force nor#al to t"e propellers reuired for providing #otion to t"e Quadcopter is ter#ed as t"rust. 2"is

force is generated wit" t"e "elp of rotors w"ic" spin at a certain angular velocity.n general, t"e t"rust generated by a particular rotor is,

2"ere,

= < real ti#e air density of air/Kg?#$

A < 9ross sectional area of t"e propellers.

Vr < nstantaneous perip"eral velocity of rotors

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/r

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2"us, vertical ta-eoff and vertical landing /V234 is possible only w"en,/a ? g E 1 or in ot"er words, 2"e totalt"rust to total weig"t ratio s"ould be greater t"an 1 so t"at t"e uadcopter can accelerate in t"e upward direction. n t"iscase, we assu#ed t"at,

2otal 2"rust < @/2otal weig"t of Quadcopter

Propellers Propeller is a type of fan t"at converts rotational #otion into t"rust. enerally,

propellers are classified on t"e basis of t"eir dia#eter and pitc" and are represented in ter#s of product of dia#eter and pitc". For e.g. 1B @&.G, 1B@&.', etc. 2"e dia#eter of propeller indicates t"e virtual circle t"at t"e prop generates w"ereast"e pitc" indicates t"e a#ount of travel per single rotation of propeller. n order to counter #otor torue, Quadcopter reuire two cloc-wise and two anticloc-wise rotating propellers.

All t"e propellers used in uadcopter s"ould "ave sa#e dia#eter and pitc". any #otors co#e wit" propeller

specifications so as to "ave opti#u# power consu#ption. f propeller specifications are not #entioned on #otor t"en

we "ave to use trial and error #et"od.

Fig.6. Propellers

$ Electronic speed controllers4ow voltage and current is provided by t"e #icrocontroller and

t"is is not sufficient to drive #otors. 2o drive t"e #otors at specific speed, we reuire a #otor driver to supply specifica#ount of voltage and current reuired by t"e# and t"is wor- is done by *lectronic speed controller.

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Fig.7. *lectronic speed controller

E)+ calc!lations

*!9 rating< H1. to 1.'I@/#a5. a#pere rating of #otor

& attery 4it"iu# Poly#er /4i7Po batteries are used in uadcopter. 2"ese batteries are

rec"argeable and also "ave low weig"t and "ig" voltage capacity as co#pared to ot"er type of batteries. :atteryc"argers are reuired for c"arging t"e battery

attery calc!lations

a5. 9urrent wit"drawal by #otors

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Fig. 9. F4N!KN 92: 8e#ote 0* 3!adcopter frame

2"e fra#e of uadcopter can be #ade fro# alu#iniu#, carbon fibre or balsa wood. 2"e co#parison a#ongvarious

Properties of t"ese #aterials are listed below7

Property Aluminium Carbon Bala

!"#"$% &ibre 'oo(

NoungOs GB GB $#odulus/gpa

PoissonOs ratio B.$$ B.1 B.

0lti#ate tensile ''B BB 1&

strengt"/#pa

0lti#ate & 'GB G

co#pressivestrengt"/#pa

Density/gra#?cc .M 1. B.1$

Alu#iniu# /B1 is lig"t and strong #aterial, w"ic" dissipates "eat well, and is relatively ine5pensiveco#pared to t"e ot"er available options. aving alleability, or t"e ability to be s"aped. %o spar-ing, so itOs ideal for use near fla##able substances. 8esistant to corrosion, t"is #a-es it ideal for use outdoors. %on#agnetic, "ence it is notaffected by electro#agnetic forces. 2"us Alu#iniu# is a #aterial w"ic" is used for ar#s and t"e centre plate. 2"e cad

asse#bly #odel for uadcopter is s"own in following fig.2"e Alu#iniu# fra#e of t"e ve"icle is subected to followinganalysis7

1. !tatic structural analysis. odal analysis$. ar#onic analysis

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Fig.1B. $D 9AD #odel of uadcopter fra#e

1* )tatic str!ct!ral analysis

2"e boundary conditions for static structural analysis are s"own in following fig.

Fig.11.Application of boundary conditions

During application of boundary conditions, 2"rust forces, gravitational force, downward force due to#otor asse#bly are considered.

8esultsCa. Deformation res!lt

Minimum 0. m

Maximum 1.3176e-006

m

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Fig.1.2otal defor#ation analysis

Fig.1&.2otal defor#ation analysis

b* :on mises )tress res!lts

Minimum 1.9369 Pa

Maximum 7.5418e+005

Pa

Fig.1$. Von #ises stress analysis

. odal analysis

2"is analysis is reuired to find t"e natural freuency of t"e fra#e. 2"e freuency values are deter#ined

for different #odes.

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!r. no. odes Freuency/6

1. ode1 B

. ode B

$. ode$ 5.6555e-003

& ode& 93.998

' ode' 98.038

ode 105.88

G odeG 295.51

M odeM 427.55

ode 439.28

1B ode1B 637.12

$. ar#onic analysis

2"e results for "ar#onic analysis are displayed in ter#s of stress and defor#ation a#plitudes.

freuency A#plitude/Pa P"ase angle

1BB 11181 0

BB 11781 0

$BB 12988 0

&BB 15367 0

'BB 21204 0

BB 73111 0

GBB 1147.7 180

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a. !tress

MBB 17708 0BB 1.27#$05 01BBB 29112 180

a#plitudesC

Fig.1&. Freuency vs stress a#plitudes

b. Defor#ation a#plitudesC

Fre%&e'()

A*plit&+e,*-

P/se

/'gle

100 5.09#10 180

200 7.31#10 180

300 1.52#09 180

400 1.18#08 180

500 5.62#09 0600 1.53#08 0

700 3.71#09 180

800 2.64#09 180

900 1.32#08 180

1000 3.75#09 0

Fig.1'. Freuency vs defor#ation a#plitudes,

Fre%&e'() s p/se /'gle

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#* Res!lts and disc!ssions

:y t"e studying design of uadcopter and its #aterial for eac" part, final asse#bly of uadcopter is prepared in 9AD

#odel. 2"ree -inds of analysis is carried out on uadcopter asse#bly.

First is static structural analysis, results s"ows t"at t"e defor#ation in #odel is #ini#u# B # and #a5i#u# is 1.$1Ge7

BB #. t"e defor#ation is acceptable. Von #ises stress result is #ini#u# 1.$ Pa and !o*i'g o' #odel are wit"in t"eli#it and #odel is safe.!econd is #odal analysis, t"is analysis is reuired for finding out t"e natural freuencies fordifferent

#odes. 2en #odes are considered for getting freuency results. in B 6 and #a5i#u# $G.1 6 natural freuency s"owed in

ansys result using #odal analysis.

2"ird is ar#onic analysis, results in ter# of "ar#onic response are recorded and t"ese are !tress a#plitude/Pa and

Defor#ation a#plitude /#.

. CONC)U*ION

:y applying t"e a#ount of t"rust reuired during different #aneuvers of uadcopter, gravitational force, self7weig"t

of co#ponents attac"ed to fra#e, defor#ation, stress, natural freuency results and "ar#onic response is studied using Ansys

1'.B. 2"e defor#ation and stress results for different types of analysis are wit"in li#it. !o it is concluded t"at t"e design for

uadcopter is safe.

RE&ERENCE*

;1< Part". %. Patel, =o!rnal of Advance in Electronic and Electric Engineering* #))5 $171G , vol!me %, 5!mber & /B1$

;$< :ernard 2at #eng 4eong et al, =o!rnal of #nternational )ymposi!m on Robotics and intelligent sensors B1/8!B1

;%< 9orey 8ussel et al, =o!rnal of Design and Reali9ation of intelligent portable Aerial s!rveillance system &%, pp*1>$%71$B

($?1?

;&< ardi- od" @3!adrotor An "nmanned Aerial :ehicle@ in ournal #=EDR :ol!me $, #ss!e 1 pp* 171$B$ in B1&

H'IP. Pounds and 8. a"ony, BDesign principles of large C!adrotors for practical applications in Proceedings of t"e #EEE

#nternational +onference on Robotics and A!tomation (#+RA, pp. $' $GB, ay BB

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