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How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
How to build your own Quadrocopter
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How to build your own Quadrocopter

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A presentation held at SAPO CodeBits 2010 (http://codebits.eu/intra/s/session/114), describing the operational theory and basics as well as the building blocks of a remote-controlled model …

A presentation held at SAPO CodeBits 2010 (http://codebits.eu/intra/s/session/114), describing the operational theory and basics as well as the building blocks of a remote-controlled model quadrocopter.

A video of this talk can be found here: http://videos.sapo.pt/HZSIm9FUl3D3bfqmVcsv

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  • 1. How to build your own QuadrocopterHow to build your own Quadrocopter Lenz Grimmer <lenz@grimmer.com> http://www.lenzg.net/ Twitter: @lenzgr SAPO Codebits 2010, Lisbon, Portugal
  • 2. OutlineOutline ● Basics / Operational Theory ● Building Blocks ● References/URLs ● Demo
  • 3. FeaturesFeatures ● A “VTOL UAV” ● Simple to build ● Simple mechanics ● No servos required ● Parts Availability / Accessibility
  • 4. Lab/Tech RequirementsLab/Tech Requirements ● Soldering station ● Powerdrill / Dremel ● Others (Screwdrivers, Saws, Files) ● Power supply
  • 5. Operational theoryOperational theory ● Physics ● Flight Dynamics ● Movement / Control
  • 6. PhysicsPhysics ● 2 pairs of counter rotating props ● Compensate rotary momentum ● Different RPMs = different thrust
  • 7. Flight DynamicsFlight Dynamics http://en.wikipedia.org/wiki/File:Flight_dynamics_with_text.png
  • 8. Movement/ControlMovement/Control ● Regular remote control ● Behaves like a helicopter ● Nick / Roll / Yaw ● Up / Down ● “X”, “+” or “Y” flight configuration ● Pilot skills
  • 9. Momentum CompensationMomentum Compensation
  • 10. Yaw/RotationYaw/Rotation
  • 11. Vertical MovementVertical Movement F F FF m·g 4⋅F=m⋅g 4⋅Fm⋅g 4⋅Fm⋅g Ascending Descending
  • 12. Nick/RollNick/Roll F1 F2
  • 13. Nick/RollNick/Roll F1 F2
  • 14. Building blocksBuilding blocks ● Frame ● Motors ● Propellers ● Battery ● Electronics
  • 15. FrameFrame
  • 16. FrameFrame ● Center plate ● Arms ● Battery mount ● Motor mounts ● Protective dome ● Landing gear
  • 17. PropellersPropellers
  • 18. PropellersPropellers ● Diameter: 8, 10, 12 inch ● 2 blades ● Directly attached to motor ● 2 each rotating CW and CCW ● Proper balance reduces vibrations
  • 19. MotorsMotors
  • 20. Brushed MotorBrushed Motor + -
  • 21. Brushless MotorBrushless Motor Phase A Phase C Phase B
  • 22. MotorsMotors ● Brushless ● Outrunner vs. Inrunner ● Direct drive (no transmission) ● 3-phase powered ● Requires special BL controller ● Weight (g) / RPMs/V / max. current (A)
  • 23. Brushless ControllerBrushless Controller
  • 24. Brushless ControllerBrushless Controller ● Converts DC power to 3-phase AC signal ● Drive motor to indicated RPMs ● Controller speed is essential ● Receives RPM info from receiver/control unit ● PWM signal ● I2C ● UART (Serial)
  • 25. BatteryBattery
  • 26. BatteryBattery ● Lithium Polymer (LiPo) (or Lithium Iron Phosphate, LiFePo4) ● Lightweight ● High currents and capacity ● Handle with care! ● Voltage / Capacity / Max discharge / Weight
  • 27. Power Distribution / WiringPower Distribution / Wiring Battery Motor BLC Sensors Motor BLC Motor BLC Motor BLC RX Central Control
  • 28. Power DistributionPower Distribution
  • 29. Power DistributionPower Distribution ● Supply the BLCs / Motors ● Supply the central controller / Sensors ● Support high currents ● Main switch or battery plugs ● Wires or PCB
  • 30. Transmitter / ReceiverTransmitter / Receiver
  • 31. Transmitter / ReceiverTransmitter / Receiver ● Frequencies: 35/40 MHz, 2.4 GHz ● Minimum: 4 channels ● Receiver output: PPM (sum signal) or individual channels from receiver (PWM)
  • 32. SensorsSensors
  • 33. SensorsSensors ● IMU ● Gyroscopes (Rotation) ● Accelerometers (Movement) ● Optional ● Pressure Sensor (Altitude) ● Compass/Magnetometer (Attitude) ● GPS (Location)
  • 34. Central ControllerCentral Controller
  • 35. Central ControllerCentral Controller ● Collects sensor data ● Receives control commands ● Calculates orientation/location ● Sends updated motor commands to BLCs ● Microcontroller (e.g. Arduino, ARM...)
  • 36. Configuration SoftwareConfiguration Software
  • 37. AccessoriesAccessories ● Camera mount ● Zigbee for telemetry data ● Video goggles
  • 38. Legal aspectsLegal aspects ● Check local laws for regulations ● Consider getting an insurance
  • 39. Practical tipsPractical tips ● Double-check propeller positions and directions ● Double-check Flight Control orientation ● Avoid vibration where possible for stable flight ● Test outside, away from people ● Don't attach the propellers on the motors until everything is tested!
  • 40. References / URLsReferences / URLs ● Forums ● RCGroups - http://www.rcgroups.com/ ● DIYDrones - http://diydrones.com/ ● Portuguese Forum - http://forum.rcmpt.com/ ● Projects ● Mikrokopter - http://www.mikrokopter.de/ ● UAVP-NG - http://ng.uavp.ch/ ● Arm-O-Kopter - http://www.armokopter.at/ ● Arducopter - http://code.google.com/p/arducopter/ ● Aeroquad - http://aeroquad.com/ ● KK-Multicopter - http://kkmulticopter.com/ ● OpenPilot - http://openpilot.org/ ● Quadrocopter and Tricopter Info Mega Link Index http://www.rcgroups.com/forums/showthread.php?t=1097355
  • 41. References / URLsReferences / URLs ● Parts ● HobbyKing - http://www.hobbyking.com/ ● SparkFun - http://www.sparkfun.com/ ● DIYdrones - http://store.diydrones.com/

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