404warehouse Jaeyoung Lim

1. HeavyLift Multirotor for
Medium Altitude Science Platform
Multirotor platform for
Cansat Deployment
Jaeyoung Lim
Seoul National University

2. Contents
• Introduction to Multirotors
• Dynamics
• System Layout
• Motor Dynamics
• Performance Estimation
• Cansat Deployment
• Heavy Lift Multirotor

3. Introduction to Multirotors
Flight control using multiple rotors

4. Current Issues
Banned out of line-of-sight flights for small unmanned aerial vehicles for
the safety of conventional air traffic

5. System Layout
Flight Controller
Receiver
Motor Driver
Motor
Battery
Design Agenda
Motor Selection ESC Selection Battery Selection
Define
Mission

6. Motor Dynamics
• Kv Value (Speed Constant)
• Theoretical Thrust
NTM Prop Drive Series 42-38 750kv / 785w
How much Power? How much Voltage?

7. ESC
Electric
Speed
Controller
Battery Motor
PWM
Vcc
GND
• Performance is defined in terms of Amps
• Maximum Current needed is defined by the motor
• Usually 3S Lipo is used for small multirotors, 4S Lipo is used for large multirotors

8. Performance Estimation
Assumption
1.
2. Thrust Ratio shall be bigger than at least 2, bigger than 2.5 is ideal
Linear assumption

9. Flight Controller
• Controls Attitude of the aircraft
• Autonomous flight (Optional)
• Camera Gimbals
• SONAR Sensors
• Various Flight Modes
KK.2 Flight Controller MultiWii DJI Naza
ArduPilot

10. Flight Modes (APM)
• Stabilize
• Alt Hold
• Loiter ( & OF_Loiter )
• RTL
• Auto
• Aco
• Sport
• Drift
• Guided
• Circle
• Position
• Land
• FollowMe
• Simple & Super Simple

11. Ground Station
Mission Planner
QCGround Control