SRM INSTITUTE OF MANAGEMENT AND TECHNOLOGY, NCR CAMPUS, GHAZIABAD.

CERTIFICATE

This is to certify that the project entitled, Design And Fabrication Of Quad Copter submitted by Gaurav Sood, Gurjas Singh, Yashovardhan Mishra, Harbeer Singh in partial fulfilments of the requirements for the award of Bachelor of Technology Degree in Mechanical Engineering at SRM Institute of Management and Technology, NCR Campus, Ghaziabad is an authentic work carried out by them under my supervision and guidance. To the best of my knowledge, the matter embodied in the report has not been submitted to any other University/Institute for the award of any Degree or Diploma.

Mr. Freedon Daniel H.O.D (ME)

Mr. Manoj Pal Project Coordinator

Mr. Ashish Kumar Project Guide

DECLARATION
We, Gaurav Sood (1020930033), Gurjas Singh (1020930034), Yashovardhan Mishra (1020930105) and Harbeer Singh (1020930108), do hereby declare that the Project Report entitled Design and Fabrication of Quad Copter is a record of the original work carried out by us under the supervision of Mr. Ashish Kumar, Assistant Professor, Department of Mechanical Engineering, S.R.M University, N.C.R Campus, Modinagar, Ghaziabad. This project has not been submitted earlier in part or full for the award of any degree or diploma in any other College, Institute or University.

Mr. Gaurav Sood (1020930033) Mr. Gurjas Singh (1020930034) Mr. Yashovardhan Mishra (1020930105) Mr. Harbeer Singh (1020930108)

Place: S.R.M. University Date: 22 May 2013.

Department of Mechanical Engineering, SRM UNIVERSITY

ACKNOWLEDGEMENT

We would like to express the deepest appreciation to our faculty mentor Mr. Ashish Kumar, Mechanical Engineering Department, who has the attitude and the substance of a genius: he continually and convincingly conveyed a spirit of adventure in regard to research, and an excitement in regard to teaching. Without his guidance and persistent help this dissertation would not have been possible. We wish to express our sincere gratitude to Mr. Freedon Daniel, Head of the Department, Mechanical Engineering, and Mr. Manoj Pal, Assistant Professor, Department of Mechanical Engineering, for permitting us to pursue our project and encouraging us throughout. We would like to express our special gratitude and thanks to industry persons for giving us such attention and time.

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Department of Mechanical Engineering, SRM UNIVERSITY

ABSTRACT

Unmanned aerial vehicles (UAVs) are aircrafts capable of flight without an on-board operator. Such vehicles can be controlled remotely by an operator on the ground, or autonomously via a pre-programmed flight path. UAVs are already being used by the military for recognizance, search and rescue operations. Our proposed design is for a lightweight, nimble craft that can be operated both indoors and out. The project poses particular challenges in terms of weight reduction, controllability and mechanical design. Quad-copter crafts generally support only a light payload, as they are required to carry the weight of the power supply, a heavy battery, on-board. Thus, weight reduction of all components is essential in order to allow for sufficient lift force. The document provides an insight on the final year project, Quad-copter UAV. The report discusses its objective, why there is a need to do this project, its working and the entire system design of the Quad-copter. It briefs the mechanical design, electronics and electrical design, software design along the project plan. The project allows one to strengthen the areas of control systems, mechanical and electronic design, embedded systems and artificial intelligence.

Department of Mechanical Engineering, SRM UNIVERSITY

INDEX
Contents Page No.

Certificate Certificate Declaration Acknowledgement Abstract Index List of Tables List of Figures Chapter 1: Introduction 1.1. What is a UAV? 1.2. Importance of helicopter & VTOL 1.3. Problems associated with conventional helicopters 1.4. Proposed solution 1.5. Complexity involved and assumption made 1.6. Scope of this project 1.7. Applications and advantages

i ii iii iv v vi viii ix 1-7 2 2 3 5 6 6 7

Chapter 2: Theory of Quad Copter 2.1. Working principle of Quad copter 2.2. System of differential equations

8-11 9 10

Chapter 3: Design of Quad Copter 3.1. Mechanical design of Quad copter 3.2. Propeller search 3.3. Control system design 3.4. Specifications
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Department of Mechanical Engineering, SRM UNIVERSITY

12-22 13 15 17 22

3.5. Safety features

22

Chapter 4: Getting started, Testing and Evaluation 4.1. Getting started 4.2. Testing and Evaluation

24-28 25 27

Chapter 5: Conclusion and Future work 5.1. Future work 5.2. Conclusion

29-31 30 31

References Appendices IEEE Paper

32 33 34

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Department of Mechanical Engineering, SRM UNIVERSITY

LIST OF TABLES

Table 1: Properties of Corrugated Plastic Table 2: Specification of the main parts of Quad copter

14 22

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Department of Mechanical Engineering, SRM UNIVERSITY

LIST OF FIGURES

Fig 1.1: Historical Tests on Quad Rotor Aircraft Fig 1.2: Proposed design of the Bell Boeing Quad Tilt Rotor Aircraft Fig 1.3: Proposed design of our Quad copter Fig 2.1: Top View of Quad copter frame with moment Fig 2.2: Free Body Diagram of Quad copter (Side View) Fig 2.3: Lift force transmitted through all the transformations involved Fig 3.1: The basic Quad copter schematic Fig 3.2: 12 x 6 Gem fan Fig 3.3: 9 x 6 APC Fig 3.4: 9 x 4.7 Dragon fly adapters Fig 3.5 Control of rotors (X- Configuration) Fig 3.6: Flow diagram depicting the control logic Fig 3.7: Schematics Fig 3.8: Flow Diagram of flight control software Fig 3.9: Spongy balls acting as damper Fig 4.1: Test setup for determine lift characteristics of rotors Fig 4.2: Lift vs. current graph for one of the motors Fig 5.1: Link sprite JPEG Colour Camera Fig 5.2: Micro Quad copter 15

4 5 6 9 10 11 13

16 16 17 19 20 21 23 28 29 30 30

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Department of Mechanical Engineering, SRM UNIVERSITY