2019 International Conference on Robotics,Electrical and Signal Processing Techniques (ICREST)

A Flight Control System for a Vehicle

Meer Shadman Shafkat Tanjim Ashrafun Nushra Oishi Animesh Nandy
Department of Electrical and Electronic Department of Electrical and Electronic Department of Electrical and Electronic
Engineering Engineering Engineering
American International University- American International University- American International University-
Bangladesh Bangladesh Bangladesh
Dhaka, Bangladesh Dhaka, Bangladesh Dhaka, Bangladesh
meer.tanjim@yahoo.com ashrafun_nushra@yahoo.com animeshnandy8600@gmail.com
Raihanul Jannah Sakib Ahmed
Department of Electrical and Electronic Department of Electrical and Electronic
Engineering Engineering
American International University- American International University-
Bangladesh Bangladesh
Dhaka, Bangladesh Dhaka, Bangladesh
raihan.sohash93@gmail.com sakibahmed.ieee@yahoo.ca

Abstract— The most common problem of a city is its traffic
jam in busy and important areas. Nevertheless, ideas have
already been pragmatic, traffic jam can’t be controlled
completely nor it gets alternative. Vehicles are increasing in
the proportion of population growth and technological
enrichment. Moreover, road blockage, emergency aspects,
armed security purpose etc. are also a fact to be solved now-a-
days. Therefore, we have got an idea of overpassing the
vehicles so that the road becomes traffic free. After
researching various theories with the help of Bernoulli’s
principle and duct theory, a new standard flight control system
has been visualized. Here, a balanced, portable, comfortable
and a universal system with instant flight facility has been
introduced, which is more advantageous than quadcopter
system. The system can be installed on any existing vehicle
with an initial feature of instant flight and forward-backward
movement along with left/right turns later. After having a lift,
the vehicle can move on the air like a comfortable jerk-less
vehicle on the road.
take-off and landing criteria. This universal flight system
will be cooperative for the engineers and comfortable for the
users also.
II. SYSTEM DESCRIPTION
There are four BLDC motors (are Set acknowledging the
center of a vehicle mass) for lifting purpose. The 9 channel
radio transmitter and receiver is used for transmitting signal
on the control system for flight test. There are two ultrasonic
sensors to measure upper and lower distance to show the
obstacle height and amplitude. Similar application like
forward-backward obstacle detecting is left for future
implementation. There is also landing safety consideration
during frame designing.
Several theories are supposed to follow in flight control
system

Keywords— Universal Flight System (USF), Instant flight • Bernoulli’s principle [6]
facility (IFF), Bernoulli’s principle, Duct theory, Emergency • Pascal’s law
transportation, Flight Control System (FCS), Futuristic Vehicle • Newton’s 3rd law
Upgrade, Traffic Jam solution, Transport problem, Revolution.
As the blade of duct fan rotates, high pressure and low
pressure region are introduced with in the duct frame. Air
I. INTRODUCTION with low pressure starts flowing toward high pressure region.
From drag and wing theory to VSTOL, several flight The fewer gaps between blades and duct frame, the more
control theory around the world has already been introduced efficient the thrust will be. The high pressure region below
for light or medium duty purpose [1]. For heavy duty the duct frame gives a force towards low pressure region
aspects, it really gets so complicated that whole load is above the tip. The more extended tip will be, the more will
pressurized to behave like light one or it is being solved with be the thrust value; as the tip works as a barrier for the cross
drag and fly method [2]. With available propellers, somehow sectional air flow along the body.
the quadrotor techniques are balancing some issue, but still
hesitating to balance for the heavy duty one [3] [4] [5]. In
this paper, maintaining recent facts and strategies a new
flight system is developed, which will make any existing
vehicle fly instantly. Adjusting some parameters, the system
will be universal for any existing vehicle to make it fly.
Traffic jam has been one of the biggest concerns in any
busy city. But now, whenever a vehicle gets stuck in the
middle of traffic jam or any kind of road blockage, it can
easily take off from the surface where it stands and can be
flown away by following a certain flying path. Transport
authority can regulate it if any excess usage is observed.
However an enormous research of material is needed to Fig. 1: Duct Theory with Propeller and Frame
support the flight system best, yet this system will create a
new image for upgrading the existing vehicle to the flying
one, in not only for fancy scenario but also for emergency

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 2019 International Conference on Robotics,Electrical and Signal Processing Techniques (ICREST)

III. MODELING OF THE FLIGHT CONTROL SYSTEM

We were supposed to install the system on vehicle. So,
Lift Throttle control
we had to choose its portability feature realistically. As we
said on the theory that the width of the propeller-frame
ducted tip is proportional to the thrust of the EDF unit, we
Move F/B/L/R
had to choose styro-foam (made of polystyrene) for its
vibration absorption quality, inter molecular firmness (while
glued), light-weight (like carbon-fiber) feature.
Amplitude
Height check

Engage Landing feature

Lift Throttle reduction

End

Fig. 3: Operation of the Prototype System

IV. PRACTICAL IMPLEMENTATION OF THE SYSTEM

The Theory which were described, were researched for
implementing in real life basis. From the phenomena, we
tried our best to give the prototype a standard. We have to
face new situations and several troubleshoot. Sometimes we
Fig. 2: Hardware Implementation of the Prototype System have to choose plan B to make it happen but plan A would
be perfect when industrial support would be achieved.
Start
A. Frame Evolution step by step:

Turn On Self-Level

Watch on the monitor if the flight is safe

Arm the Flight system

Fig. 4(a): Aluminium Cast Rod Frame

Adjust R.E.C. and

Backward Thrust

Initial Throttle to Lift

Fig. 4(b): Aluminium Thai Frame

Proportional Integral
Control Control

Self-Balance Fig. 4(c): Styro Foam Frame

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 2019 International Conference on Robotics,Electrical and Signal Processing Techniques (ICREST)
B. Propeller selection and Duct concept
In the very starting basic, we had to study with the
different type of propeller and advantage of thrust. Though,
APC propeller was good for thrust but it is only dependent
on its length. As a result we switched to small propeller test.
On the test, we used wooden body for increasing propeller
efficiency. We tested with both conical and cylindrical shape
body. We found some vortex around every propeller-edge
which creates noise and wastage of thrust.
So firstly, we went for the body which was so close to
the duct propeller-edge and secondly, we used ducted
propeller blades for better output. Additional exhaust nozzle
was also good for thrust efficiency but there were a
limitation of industrial work in this stage with carbon fiber or
these types of material to make the nozzle firmer. In the
other hand, the additional Propeller-body-frame-tip related
researches were successful. This tip gives an additional
thrust with the duct propeller due to Bernoulli’s Theorem.
We tested all these things in parallel so that we relate each
other to get better thrust. [7]
TABLE I. ELECTRICAL DUCTED FAN (EDF) UNIT
COMPARISON
C. Forward-Backward control
Thrust
Fig. 5(a): Forward Control (Thrust on front)
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For forward movement, we were using an additional
EDF motor and faced the tip of the propeller-body-frame to
front and tail of the motor to back, making an angle of zero
degree in servo positioning. To be notified that the thrust
point must be the center point of vertical center point of the
vehicle. Thus the thrust will drag the center of the vertical
axis of vehicle to forward. Otherwise it will create slight
bend in forward movement. So, in fixing the alignment of
the motor, we were much cautious in the terms of weight
balance, foams’ pressure points, motors’ thrust points and
stability.
For backward movement, we were facing the tip of the
propeller-body-frame to back and tail of the motor to front,
making an angle of 180 degree from initial zero position of
the servo.
Thrust
Fig. 5(b): Backward Control (Thrust on back)
D. Left directional control (both Forward and Backward)
Left Movement
Thrust
Fig. 5(c): Forward Left Control (Thrust on Right front)
For forward left directional movement, we were facing
the tip of the propeller-body-frame to right angle from
original forward position (0 to -45 degree) and tail of the
motor to back (related to the corresponding angle).
Backward
Left
Thrust
Fig. 5(d): Backward Left Control (Thrust on left back)
 2019 International Conference on Robotics,Electrical and Signal Processing Techniques (ICREST)
For backward left directional movement, we were facing
the tip of the propeller-body-frame to left angle from original
backward position (0 to +45 degree) and tail of the motor to
front (related to the corresponding angle). We got backward
Left turn with a little bit of backward thrust.
E. Right turning control (both Forward and Backward)
Right Movement
Thrust
Fig. 5(e): Forward Right Control (Thrust on Left front)
For forward right directional movement, we were facing
the tip of the propeller-body-frame to left angle (0 to +45
degree) from original forward position and tail of the motor
to back (related to the corresponding angle).
Backward
Right
Thrust
Fig. 5(f): Backward Right Control (Thrust on Right back)
For backward right directional movement, we were
facing the tip of the propeller-body-frame to right angle from
original backward position (0 to -45 degree) and tail of the
motor to front (related to the corresponding angle) to right
side also.
F. Flight Collision Safety
When our system will be implemented, driver has to think of
the path above the vehicle if it is free to fly upward or not.
So, we interfaced Ultrasonic sensor with Arduino Uno and
showed the obstacle height in 16*2 – LCD. The light/LCD
carbon was controlled by a potentiometer. Better visible
display was possible by varying the potentiometer value
from 1k to 3k.
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Upper Distance Meter:
For upper distance meter, Ultrasonic output would appear in
upper line of LCD in the section “UD: ”. We coded the
Upper_Ultrasonic sensor so that it shows the obstacle height
by the indicator “UD: Obs at ___cm” (upto 500cm range)
and if there’s no obstacle in the range then the LCD will
show “UD: No Obstacle”. Moreover, if there is any garbage
value in the system then the LCD will simply show “ UD:
Detecting…”.
Lower Distance Meter:
Lower distance meter will be helpful after vehicle take offs
and before landings. For lower distance meter, Ultrasonic
output would appear in lower line of LCD in the section
“LD: ”. We coded the Lower_Ultrasonic sensor so that it
shows the flight height of the vehicle by the indicator “LD:
___cm” and it will record the max amplitude of the flight in
the LCD with indicator of “MX:___cm”. If there is any
garbage value in the system then the LCD will simply show
“LD: !!! ”.
Fig. 6: Ultrasonic sensor outputs in LCD
Indications:
UD = Upper Distance; LD = Lower Distance;
MX = Maximum Flight Distance
V. IMPORTANT TROUBLESHOOTS
Troubleshooting was the main life savior for us. Due to -
▶ Components non-availability
▶ Industrial Application (like – manufacturing any
components with specific material)
▶ Shortcomings of Expense
▶ Late delivery of shipments
▶ Non-durability of homemade components (like –
propellers, frame).
We had to find some temporary plan B and made the
desired phenomena happen. Which are -
• Rotational Error Correction (homemade propellers also)
• Transmitter Channel allocation
• Power trouble correction
VI. FINAL SYSTEM PROTOTYPE
For the Prototype, we controlled it wirelessly. On real life
implementation, the control unit will be hidden and will be
installed inside the driving unit in such a way that, it can
come off when the flight mode is activated from driving
mode.
 2019 International Conference on Robotics,Electrical and Signal Processing Techniques (ICREST)

Here is our final prototype system: So, Total Maximum Current drawn in the system
= {(30×4) A + 20A + 15A + 5A + 5A + 5A + 5A}
= 175 A
And, the Battery Capacity for above data ratings
= 4200 mAh / (1000 × 175 A)
= 0.024 hour
= 1.44 Minutes
If all the Power is given to the highest range at least 1.44
minutes the system will fly. If maximum thrust is not given
Fig. 7(a): Expected Prototype System then the flight time will extend because full throttle is not
needed for flying a system. [8]
Practically above 75 to 80 % is enough to fly a vehicle.

B. Flying Observation of the Prototype:

▶ Thrust is Dependent on -
• Throttle control.
• RPM and Torque of motor.
Fig. 7(b): Prototype System (Troubleshooted) • Body Material of frame and duct propeller.
• Extension of the Tip size of body frame.
▶ Highest Height : 7 meters (2 storied Building).
▶ Self-Balancing depends on PI Gain values.
▶ Throttle Hold can be done for emergency. (e.g. at
50%).
▶ Highest weight lift: around 2kgs.

C. Thrust Calculation
In quadcopter (run by BLDC motor), for
Fig. 7(c): Prototype System With Vehicle (Top View) 1) APC Propeller of 8 inches 2) 20A Current draws per
motor 3) 4200mAh Battery Pack 4) Motor Efficiency of
75%
VII. CALCULATIONS AND RESULTS
Theoretical thrust for a Quadcopter,
A. Flying Time Calculation
T = [(h × P)2 ×2πr2 ρ]0.33
For our system we have used 4200 mAh Li-Po pack
Battery to run 6 EDF Outrunner Motors in Parallel. = 26.151 N
Among the 6 motors, = 26.151 N × 0.101971621 (1N=0.101971621 kg)
4 Motors (Lifting motors) have 30A maximum Current draw So, TTheoritical = 2.67 Kgs
rate,
Here,
1 Motor (Forward/Backward Motor) has 20A Maximum
Shaft Power, P = V × I× h
Current Draw rate,
Air Density, ρ = 1.22 kgm-3
1 Motor (Rotational Error Correction Motor) has 15A Radius, r = 8/2 = 4 inches = 0.1016m
Maximum Current Draw rate,
D. Thrust Observation:
1 Servo motor draws Current of 5 A, Practically, a Quadcopter can lift approximately around 2
1 LCD with Arduino draws current of 5A, Kgs only, using 8 inches propeller.

1 Gear motor with wheels & Arduino Draws current of 5A, But with our system, we can lift same weight more
noiselessly even with smaller diameter of propeller (2.3
KK2.1.9. Flight Controller board needs 5A current to run. inches approx.). Moreover, our system is much Comfortable
for instant flight.

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E. Material Combination for Thrust Improvisation: Control, Automation and Robotics (CAR 2010), Wuhan, pp. 429-432,
2010.
If a Car weight is 1400kg, per side thrust should be more
than 1400/4 = 350kg [3] G. M. Hoffmann, H. Huang, S.L. Waslander and C. J. Tomlin,
“Quadrotor Helicopter Flight Dynamics and Control: Theory and
Experiment,” Proceedings of the AIAA Guidance, Navigation, and
Table II: MATERIAL ANALYSIS FOR REAL IMPLEMENTATION Control Conference and Exhibit, Hilton Head South Carolina: 20-23
August, AIAA 2007-6461, pp. 1-20, 2007.
Per Per [4] F. Kendoul, D. Lara, I. Fantoni and R. Lozano, "Real-Time Nonlinear
Battery
Material Blades Motor Motor Diameter Embedded Control for an Autonomous Quadrotor Helicopter,"
Cell
Weight Thrust Journal of Guidance, Control, and Dynamics, Vol. 30, No. 4 (2007),
pp. 1049-1061, 2007.
Plastic 5 58.83 kg 350 kg 3 44.8 m
Alloy 9 52.50 kg 350 kg 4 6.8 m [5] D. Mellinger, N. Michael and V Kumar, “Control of Quadrotors for
Robust Perching and Landing,” Proceedings of the International
Powered Lift Conference, Philadelphia, PA: October 5-7, pp. 520-
526, 2010.
With Improved Material like as hard as titanium and as light
as carbon fiber, we can reduce motor diameter to less than 1 [6] Bernoulli’s Theorem [Online]. Available:
http://theory.uwinnipeg.ca/mod_tech/node68.html. [Accessed: June
or 0.5 meter to fit it beside the calibrated position side of 25, 2016]
any vehicle. In that Case,
[7] Aerodynamics of Flight [Online]. Available:
Total weight of a car with the system will be – https://www.faa.gov/regulations_policies/handbooks_manuals/aviation
/helicopter_flying_handbook/media/hfh_ch02.pdf. [Accessed: July 12,
2016]
{1400 + (52.5 × 4) + others} = 1650 kg [8] Thrust Calculation and Li-Po Pack Flight Time Calculation [Online].
Available: http://multicopter.forestblue.nl/lipo_need_calculator.html.
[Accessed: August 15, 2016]
The extra 250 kg (approx.) may vary due to system weight.
Though this extra weight is negligible than that of vehicle,
yet if the mentioned material can be researched then this
extra weight may get more reduced.

VIII. CONCLUSION
We have not built a vehicle; we have built a flight system
so that the system can be installed into an existing vehicle.
To implement a new system like this model was a massive
challenge for us. Considering the impediments, we hold our
breath to solve the problems that every nation is going
through. Not only this, whole world has a demand of this
type of system from emergency needs to luxury aspects.
Research was made as far possible from components to
material and from simple to complex implementation. Many
Troubleshoots were done to make the system as stable as
possible.
To introduce a new system, successful prototyping is
mandatory. In these circumstances, our practical
implementation of the prototype system was close enough as
per theory and requirements. Though, Power consumption
and expense is a fact. But when time and emergency come in
front then people need instant solution. As Power sector is
developing day by day, it’s a matter of invention to get the
expenses reduced also.
This flight control system will bring a revolutionary
change among instant flights of any vehicle on upcoming
days, ensuring comfort and portability.

REFERENCES
[1] J. Zhu, "A Survey of Advanced Flight Control Theory and
Application," The Proceedings of the Multiconference on
"Computational Engineering in Systems Applications", Beijing, pp.
655-658, 2006.
[2] Chai Xue, Wang Ganglin and Wu Zhe, "Flight control system design
for the flying-wing aircraft by using intelligent optimal seeking
method," 2010 2nd International Asia Conference on Informatics in

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