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Quad Rotor MAV Design and Development for Vertical Take-off and Landing

This project focuses on the design and development of a Quad Rotor Micro Aerial Vehicle (MAV) with goals including stable flight, minimal payload, and over 10 minutes of flight time. The achievements encompass mathematical modeling, MATLAB simulation, and a visual interface for control and monitoring. Challenges like coupled inputs and reaction torque are addressed, with MATLAB simulations illustrating altitude variation due to roll, pitch, and yaw. The project involves physical and mathematical modeling, subsystem analysis, and software integration for stable MAV operation.

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Quad Rotor MAV Design and Development for Vertical Take-off and Landing

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  1. Quattro Copter Design & Development of a Quad Rotor MAV Beniamin Apopei

  2. General Description • Goals: • Vertical Take off and Landing MAV • Stable and Maneuverable • Flight Time>10 min • Minimum Payload: 250g • As small as possible • Design, construction, matlab simulation and control • Achievements: • 4 propellers MAV, 6 DOF • Physical and Mathematic modelling.Matlab simulation • Visual Interface for Control and Monitoring • Take off, stable hovering and landing

  3. Why 4 propellers? • Problems: • Coupled inputs • Complicated rotor mechanics • Watts / Weight Efficiency • Reaction Torque

  4. 4 Propellers Model

  5. Mathematic Model States Vector System Function System Inputs

  6. Sistem’s Stability • Subsystem • Operating Point • Liapunov Function [1] [2] • We choose inputs [3] • Results [4]

  7. Inputs Correlation • Altitude Variation as a result of Roll/ Pitch andYaw

  8. Matlab Simulation Model • Simulation diagram

  9. Visual Interface

  10. Final Model

  11. First Experiments • Stability • Noise problems • Brushed Motors • A/D &Digital together • Serial Com • Software • Personal Satisfaction • Research Proposal

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