Chapter 1

INTRODUCTION
The development of small autonomous aerial vehicles is an area of interest
that many researches wish to explore. There is currently a large range of projects and
research topics emerging in this field .Thus it was decided to construct and develop an
aerial vehicle that would be a base for future projects in this field of research.

Autonomous aerial vehicles are true mechatronic systems that combine

elements of mechanical, electrical, software and control engineering. The amount of
time needed to be spent constructing an entire vehicle to undertake research on a
small facet of autonomous aerial vehicles is too time consuming, thus the ability to
use an already constructed platform to build the desired experiments on will greatly
speed up research in the future.

Preliminary research has shown that the most versatile and mechanically easy
to construct autonomous aerial vehicle is a quadrotor helicopter. This is due to the fact
that quadrotors can be fully controlled solely by varying the speed of the four rotors
and no mechanical linkages are required to vary the rotor blade pitch angles as with a
conventional helicopter.

This report will cover research into previously published papers on quadrotors
in order to understand how they are commonly built and controlled as well as
researching an already existing quadrotor control board that is available for purchase.

The report will also document research, design and construction of our own
quadrotor helicopter that is planned to be used as a test bed for future projects
atMassey University. Conclusions will then be made on the current state of the project
and suggestions and recommendations for future research projects and ways the
current design can be improved will be given

A quad rotor helicopter was developed for the purpose of creating an aerial
vehicle test bed. Major work has been undertaken in the designing and constructing of
the physical vehicle and basic software has beenImplemented for communication with
a computer via RS232, motor speed control as well as the beginnings of an inertial
navigation system. A testing station has been constructed so that future developments

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in control strategies can easily be tested without introducing unnecessary risks to
hardware and operators

Figure 1.1 , Quad Copter

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 Chapter 2
DISCUSSION
2.1 WORKING PRINCIPLE
The main principle behind the flight of a quadcopter is Newton’s Third Law of
motion, which states that for every action there’s an equal and opposite reaction. A
quadcopter’s propellers push air downwards. This causes an opposite reaction called
thrust that pushes the quadcopter upwards against gravity. Air movement comes from
Bernoulli’s Principle, with larger propeller blades and faster rotation creating more
thrust.

When the propellers rotate (for example clockwise), the quadcopter will tend
to rotate anti-clockwise. Rotational force is called torque. Helicopters solve this by
using a tail rotor. Quadcopters solve this by driving two diagonal propellers clockwise
and the other two anti-clockwise. Thus, torque from one pair cancels that of the other.

When each diagonal pair of propellers rotate in opposite directions, their

thrusts will be in opposite directions. The quadcopter will not be able to lift up or fly.
This is solved by having the blades of each diagonal pair of propellers shaped as
mirror images of the other pair. Effectively, all propellers will push air downwards
regardless of the direction of rotation.

Fig 2.1 , 1 and 3 balance the torque from that of 2 and 4

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Fig 2.2 , 1and3 have different propeller blades from that of 2and 4.

Fig 2.3 , Block diagram for quad copter

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 CHAPTER 3
DIFFERENT MOVEMENTS
A quadcopter has four different movements:

 Vertical: Quadcopter can move up against gravity or come down in a

controlled manner. These movements are called throttle.
 Rotational: Clockwise or anti-clockwise turns about the vertical axis is called
yaw.
 Front-to-back Lateral: Tilting along the lateral axis, called pitch, causes the
quadcopter’s nose to dip or rise. This in turn enables forward or backward
motion.
 Left-to-right Lateral: Tilting along this axis, called roll, enables movement
towards left or right

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 Figure 3.1 Different movements

Figure 3.2 , Take off and landing motion

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 Figure 3.3 , Right and left motion
Figure 3.4 , Forward and backward motion

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 CHAPTER 4
COMPONENTS OF QUADCOPTER

4.1 IMPORTANT PARTS OF DRONE

Figure 4.1 parts of drone

4.2 FRAME:
 It should have sufficient strength to hold the propeller momentum and

additional weight for motors and cameras

 Sturdy and less aerodynamic resistance

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 figure 4.2 frame

4.3 PROPELLERS:

 The speed and load lifting ability of a drone depends on shape, size, and
number of propellers
 The long propellers create huge thrust to carry heavy loads at a low speed
(RPM) and less sensitive to change the speed of rotation
 Short propellers carry fewer loads. They change rotation speeds quickly and
require a high speed for more thrust.

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 Figure 4.3 propeller

4.4 MOTOR

Both motors brushless and brushed type can be used for dronesA brushed motor is
less expensive and useful for small-sized drones.

Brushless type motors are powerful and energy very efficient. But they need
Electronic Speed Controller (ESC) to control their speed. These brushless motors are
widely used for racing freestyle drones, traffic surveys and aerial photography drones

Figure 4.4 , Motor

4.5 ESC (ELECTRONIC SPEED CONTROLLER)

ESC is used to connect the battery to the electric motor for the power supply

It converts the signal from the flight controller to the revolution per minted (RPM) of
motor

ESC is provided to each y motor of the drone

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 Figure 4.5 , ESC ( Electronic speed controller)

4.6 BATTERY
A lithium polymer battery (lithium-ion polymer battery (abbreviated as LiPo), is a
rechargeable battery and can be used again by charging

Figure 4.6 battery

4.7 CC3D FLIGHT CONTROLLER

A flight controller is the brain of the aircraft, which is basically a circuit board that
has built-in sensors that detects orientation changes. It also receives user commands,
and controls the motors in order to keep the quadcopter in the air.

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Here, flight controller used is cc3d flight controller, that has build-in sensors and
control the quadcopter balance and also performs the function of receiving the signal
from transmitter through receiver

Figure 4.7 Cc3d flight controller

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 CHAPTER 5
ADVANTAGES AND DISADVANTAGE

5.1 ADVANTAGES

 Does not require a qualified pilot.

 Can enter any environment
 Using four rotors means that lift is generated from four sources, thus reducing
the need to have the rotors rotate at high RPMs.
 It has high stability and high reliability.
 It is also suitable for indoor applications.
 Can be used for security purposes also.

5.2 DISADVANTAGES

 Hardware complexity.
 Flight duration is short.
 Battery replacement

5.3 APPLICATION

Due to the flexibility and simplicity of this system, it can and has been used for various
purposes….

1. Can be used in agriculture.

2. Can be used in delivery.
3. Can be use in military.
4. Videography.
5. Use in civil.

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 CHAPTER 6
CONCLUSION

Drones have always risen to theoccasion whenever they were needed. They
are truly an engineeringspectacle, containing the best of mechanical, electronics and
software technology.. BH Drone will play a major role in almost all fields in near
future The drones applications in industrial inspection, package delivery, agriculture
and others are evolving at an enormous rate and expected to get better in future. The
hardware, as well as software, is expected to improve and provide a wide range of
capabilities With so many drone innovations in the world, it’s tough to know what
will happen next. There are new questions and concerns rising regarding safety,
security and privacy. Unfortunately, at present time the misuse of drones on defense
level across the globe is a big issue and technology must be used to make the drones
for safer use and effective than the operators in order to convert such exploits in the
positive use of technology.

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 CHAPTER 7
REFERENCES

[1] www.wikipedia.com

[2] https://cfdflowengineering.com

[3] https://devopedia..com

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