Our first project on UAV field it is about building a multirotor quadcopter with the three main branches Mechanical ,Electrical and programming.

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NEAR EAST UNIVERSITY
MECHATRONICS DEPARTMENT
ROBOTICS PROJECT
Major Project Report on
BUILDING A QUADCOPTER
Submitted to teacher/ MURAT ARSLAN
By/
HOSSAMELDIN GOUDA 20174985
YOUSEF ABDELHAMID 20168844
OSSAMA ABDELSAMAD 20176088
KAREEM AHMED 20154703
MOHAMED AHMED 20167234
AHMED ELHUSSEINI 20159484

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Table of contents:
Abstract………………………………………………………3
1-Introduction………………………………………………....4
2-Types of UAVs…………………………….…………….…5
2.1-FixedWing…………………………….…………5
2.2-Multicopter………………………………………5
3- Dynamics of Quadcopter………………………..…………9
3.1-Take-off and Landing……………………...……..10
3.2-Thrust force……………………………….....…...10
3.3-Pitch……………………………………...………10
3.4-Roll……………………………………...….…….10
3.5-YAW……………………………………………..11
4-Main components……………………………………….….12
4.1-Motors……………………………………………12
4.2-Propellers…………………………………...……13
4.3-ESCs………………………………………...……14
4.4-LiPo Battery………………………………………15
4.5-Frames…………………………………………….16
4.6-Microcontrollers…………………………………..17
4.7-RCs………………………………………………..28
5-Calculations……………………………………………..29
6-References………………………………………….…...31
7- Conclusion……….…………………………………….32

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Abstract
The goal of our group’s project is to design and build an
autonomous quadcopter from scratch.
Quadcopter is a mixing of mechanics, electronics and control
which is the base of mechatronics department.
We predict a bright future for this field so that we want to join
it.
We learned in this project how the multirotor is flying, what are
the basic components that are needed to flying and the types of
controllers and manual calculations.
It has a lot of functions to do such as: photography, Military
uses, Metal detections, shipping targets…etc.
We used a flight control NAZA M-V2 upgraded by DJI
company it is very easy to use and very stable.
Ours motors are very powerful too it has a power 400w with its
very light weight.
We have just finished the project in terms of getting a grade but
we will continue to work on the Quadcopter to improve
performance and controllability.
We are going to build it again using other pilots to improve our
skills too.

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1-Introduction
An unmanned aerial vehicle (UAV), commonly known as
a drone, is an aircraft without a human pilot aboard.
UAVs are a component of an unmanned aircraft system (UAS);
which include a UAV, a ground-based controller, and a system
of communications between the two. The flight of UAVs may
operate with various degrees of autonomy: either under remote
control by a human operator or autonomously by onboard
computers.
The history of UAVs is started from The Austrian balloons and
passes through The World War I, World War II until now.
There are many functions for UAVs such as:
Military trainings 'target and decoy' – providing ground and
aerial gunnery a target that simulates an enemy aircraft or
missile.
Recognitions – providing battlefield intelligence.
Combat – providing attack capability for high-risk missions
(see unmanned combat aerial vehicle).
Logistics – delivering orders.
Research and development – improve UAV technologies.

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2-Types of UAVs:
2.1- Fixed wing:
It is similar to the normal
airplane.
It is depending on aerodynamics
equations to fly.
2.2-Multi Copters:
2.2.1- BiCopter:
It's depending on only two
motors to fly (CW & CCW).
2.2.2-TriCopter:
It's depending on three motors to fly (2 CW & 1 CCW)
OR (3 CCW).

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2.2.3-Quadcopter:
1- X OR + quadcopter:
It's depending on 4 motors to fly
(2 CW & 2 CCW).
2- Quadcopter Y4:
It's similar to Tricopter but having 2
motors in one arm.
3-Vtail & Atail Quadcopters:

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4-Pentacopter:
It's having 5 motors (2 CW & 3
CCW).
5-Hexacopter:
It's having 6 motors (3 CW &
3 CCW).
6- Hexacopter Y6:

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7-Octocopter:
7.1- 8 motors (4 CW & 4 CCW).
7.2-Octo-Quad copter:

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3-Dynamics of Quadcopter:
Firstly we should know the three main axis of the drone which
we'll move around it.

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3.1-Take-off and Landing:
There are two main
forces on the multi
rotor: 1-Weight force
to descending = mg
3.2-Thrust force to
ascending > mg
Thrust force must beat on the weight force to take-off.
We'll take-off at 50% from the throttle, So Thrust force must be
twice weight force.
3.3-Pitch forward and backward:
To move forward you must increase
RPM on the two back motors.
To move backward you must
increase RPM on the two front
motors.
3.4-Roll:
to roll right you must
increase RPM on the left
motors.
to roll left you must increase RPM on the right motors.

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3.5-Yaw:
If you want to rotates the quadcopter from a plane view.
To left turn (CCW) you must increase RPM on the two CW
diagonals motors, which will decrease the torque and there will
be a resulting momentum force to the left.
The same process will repeat if you want to turn right but with
reversing motors.

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4-Main Components:
4.1-Motors:
In multi rotor we must use Brushless DC
high power to weight ratio,itsmotors since
.high speed, and electronic control
How it is works?
When the motor windings are
energized, it creates a temporary
magnetic field that repels or attracts
against permanent magnets.
The force produced is then
converted into shaft rotation that
makes the motor do work. While
the shaft rotates, an electric current is directed towards different
sets of winding, therefore, maintaining the electromotive
attraction and repulsion that forces the rotor to turn
continuously.
Motor selection factors:
1-Motor weight OR Power to weight ratio.
2- Thrust
3- Compatible Props.
4- Power consumption.
5- Battery.
How to read Datasheet for a Brushless motor?

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4.2-Propellers:
lect the required propellers we haveTo se
two ways: Theoretical and Practical tests
that these propellers withwhich explain
these motors obtain how much thrust?
How to read datasheet of propellers?

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4.3-Electric Speed Controls (ESCs):
The term ESC is frequently used as a contraction for ‘electronic
speed controller. The basic function of ESC is to change the
from the aircraft batterymotorelectrictheamount of power to
based upon the location of the throttle stick.
How to select right ESC ?
It must covers the Max. Ampere of the motor with nearly 20%
safety to avoid high current that is may pass.

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4.4-LiPo Battery:
Batteries must be lithium because they are lighter and have a
large capacity.
It must covers the total Ampere of the circuit.

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4.5-Frames:
The frame must be balanced and stable to avoid vibrations.
The most suitable material for building a multirotor frame is
Carbon fiber due to its light and hard to broken. But it is more
expensive than other materials.
We're going to use S500 frame.
This is a super lightweight and strong frame which includes
The bottom plate includes ananding gear.lfibercarbon
integrated power distribution board (PDB) which makes
This S500.soldering your ESC and battery power cables easy
quadcopter frame has a motor to motor distance of about
10 inch480mm making it ideal to be used with 9 to
Load boom mounts are included on this frame sopropellers.
you can easily attach your battery tray and optional gimbal to
opro gimbal for aerial filmingGthis frame making it ideal for a
.purposes

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4.6-Microcontrollers:
Microcontroller is the mastermind for the multi rotor.
There are different types of microcontrollers that are uses in
UAV such as:
a- Arduino: more chipper but
need more time to
programming.
b- SparkFun.
c- Raspberry pi.

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d- ArduPilot:
ArduPilot is a professional grade open
source, unmanned vehicle Autopilot
Software Suite, capable of controlling
autonomous drones.
e- Naza M-V2:
one of DJI products which is
professional for UAVs.
Naza-M V2 Features:
 All-in-one Design
 Nine Types of Multi-rotors
Supported
 Free Ground Station
Function
 New Assistant Software for Smartphone
 Independent PMU with amazing function extension
 Enhanced Failsafe Mode
 Two Levels of Low Voltage Protections
 Multi-rotor One-power Output Fail Protection
 Advanced & Improved Attitude Stabilization Algorithm
 Multiple Flight Control Modes/Intelligent Switching
 New Assistant Software & Firmware Online Update
 GPS Module Available/Accurate Position Hold
 iOSD mini supported
 Intelligent Orientation Control

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 Motor Arm and Motor Dis-arm
 PPM, S-BUS & Ordinary Receiver Supported
 Independent LED Module
 Built-in Gimbal Stabilization Function
Remote Gain Adjustmen
We'll use this microcontroller to control ours project.
V2:-Components of Naza M
Power Modulation Unit (PMU):-1
It works as a power distributer to the
controller.
The GPS connects with it.
it directly connected to the battery.
D:Remote LE-2
It works as indicator to the state of
flying and battery.
It have a USB position for connecting
with the PC to calibrate the controller.

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Controller:-3
the arrow drawn on the controller
body from above is pointing to the
er.nose of the multicopt
M1,M2,M3,M4,M5,M6 :
connections to ESCs
on another side there are ports for REMOTE LED and PMU and
RC RECIVER.

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Software of Naza M-V2:
You can install the software program from official DJI site.
After installing and setup the program open it.
The screen shown below is shows the main window that is
appears after opening the program. It is shows a total view.
the LEDs on the bottom of the window are explaining if the
controller is identify on the PC or not if blue and red it is
meaning that it is not connecting.
if green and blue it is meaning that it is connecting and you can
do yours calibrations.

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Under Basic selection there is Aircraft selection which is for
selecting the type of your rotor.
Mounting is for adjusting the position of GPS on your rotor.

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RC selection for calibrate your Remote Control directions
Gain selections is for stability of yours rotor.
If the gain is very high or very low your rotor is going to be not
stable while flying.

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In Advanced selection we'll adjust motors idle speed for the
staring.
for fail safe mode you can adjust it.

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For Gimbal settings
for adjusting battery settings

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For adjusting the limits of yours fly.
After finishing your settings disconnect the USB cable from the
PC.
The rotor is ready to fly now.

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4.7-RCs:
RC selection factors:
1-Number of channels
2-frequency
3-range
4-price
We're going to use DJI NDJ6 RC 5 Channels, 2.4GHz frequency
with nearly 1000m range with D-bus receiver, Rechargeable
with android USB cable.

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5-Calculations:
How to calculate Flight Time manually?
First we must calculate the total weights.
* 920KV RCTIMER 48gram x 4=192gram
* Hobbyking ESCs 30A 32gram x 4=128gram
* Naza MC 27gram
* Naza PMU 28gram
* Naza LED 13gram
* LiPo 4s 550gram
* reciver 20gram
* S500 frame 1500gram
* Propellers 150gram
__________________________________________________
total 2608gram x1.1(Safety)= 2870gram
-we want a thrust force twice total weights to take-off at 50% of
the throttle= 2 x 2870=5740gram
-Each motor must give a thrust force = 5740/4 =1435gram
-from Data sheet of the motor
RCTIMER 920KV draws 24.4A as a Maximum.

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-Avg. current drawed by 1 motor=24.4/2=12.2A
12.2 x 4 motors = 48.8A
-FLIGHT TIME=(Battery Capacity/Avg. Ampere drawed) x 60
=(4.4/48.8) x 60= 5.4 minutes

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References
https://www.youtube.com/watch?v=9M0Bt_fqCiI
https://www.dji.com/naza-m-v2/feature
http://www.dolstra.nl/Modelvliegen/DJI%20Phantom/DJI%20P
hantom.htm
https://uavcoach.com/how-to-fly-a-quadcopter-guide/
https://en.wikipedia.org/wiki/Quadcopter

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Conclusion
It was a great project, we're thinking how to improve it more
and more.
We learned dynamics and controlling and how to select the most
useful components for quadcopter.
We are proud of our accomplishments, but wish that there were
more time to improve the quadcopter.