Quadcopter UAVs Aya Anderson Background This project is working - - PowerPoint PPT Presentation

The Effect of Physical Parameters on Quadcopter UAVs Aya Anderson

Background Information

★ This project is working with a quadcopter. ★ A quadcopter has four equally spaced rotors, conventionally arranged in a square. ★ Quadcopters have numerous capabilities, but the most common usages include:

○ Agriculture ○ Photography ○ Search and rescue.

https://giphy.com/gifs/producthunt-gopro-karma- l2SpPwDuUIHrExf3O

Method

★ Use the simulation code for the quadcopter simulation. ★ Using the equation for gamma (angular velocity squared=ω2). ★ The maximum ω2 of quadcopter was found by multiplying the voltage of the battery by the KV

• f the motor, both of which were found on the
• quadcopter. Rpm was converted to rad2/sec2

which it is the units for ω2.

Method continued...

★ The variable of mass was changed in the simulation code in MATLAB. ★ The maximum ω2 in rad2/sec2 was compared to the simulation with unknown kg. ★ ω2 from the inputted mass was compared to the maximum ω2 that the quadcopter could fly to find the maximum and minimum mass where the PID coefficients could work. ★ If the maximum ω2 < experimental ω2, then it was deemed physically impossible for the quadcopter to fly. ★ Contrarily, if the maximum ω2 > experimental ω2, then it was physically possible for the quadcopter.

Data

http://www.projectrho.com/public_html/rocket/controldeck.php

Results/Analysis

★ A minimum and maximum mass have been identified.

○ Maximum mass: 5 kilograms ○ Minimum mass: 0.5 kilograms

★ ω2 was used instead of ω because the motors are moving in a circular motion with the velocity vector constantly changing directions. This results in centripetal acceleration. The force propelling the acceleration is thrust, and ω2 is used in the formula for thrust.

Average baby weighs 3.5 kg Can soup weighs about 0.5 kg

http://babyology.com.au/wp-content/uploads/2016/11/cute-baby-surprised-look-sl- 800x618.jpg https://www.campbells.com/wp- content/uploads/sites/26/2014/12/campbellsCondensed- Chicken-Noodle1.jpg

Results Analysis continued...

★ A linear function with a slope of y = 2415900 + 1007577.78(x - 0.5) was expected to form. ★ Expected slope did not form due to the starting position of quadcopter in MATLAB ★ The purple and yellow lines represent the magnitude that the thrust motors are exerting.

Quaternions Analysis

★ Quaternions give the ability to see the rotation

• f body in 3D space.

★ Used quaternions because it does not give singularities as the trig functions of yaw, pitch, and roll do. ★ Important to study because can use PID based

• n quaternions.

★ Compute it by using one of the 12 sequences, this project used the sequence 3,1,3.

○ 3,1,3: Rotate about the z axis, then rotate about the new x axis, and finally rotate about the new z axis.

★ Use the linear algebra concept of Trace to determine four quaternions in every instance of time.

Conclusion

★ The simulations were performed to show that there is a relationship between physical constants and PID coefficients. ★ The relationship will provide a range of what is physically possible and impossible to fly with the given PID coefficients. ★ It is important to make a more objective range of PID coefficients which in turn will help tune the quadcopter more efficiently since a range of physical constants would have been determined to fit within the given PID parameters.

Conclusion continued...

★ This simulations performed included numerous assumptions that simplify the model, which potentially gives possible values of masses. ★ If an accurate drag model was added, it would show that the motors would have to work harder to counteract the drag force. ★ Quaternions do give two solutions for beta naught

• one

positive,

• ne

negative-. It is assumed in this simulation that beta naught is positive.

https://media.giphy.com/media/G5n8sqIOxBqow/giphy. gif

Acknowledgements

Thank you… ★

• Dr. Azimov (CoE)

★ Evan Kawamura (CoE) ★

• Ms. Misti Moore (NASA)

★

• Dr. Corey Ippolito (NASA)

★

• Mr. Rod Chappell (NASA)

★

• Dr. Linda Hayden (NASA)

★

• Dr. Prabhakar Misra (NASA)

★

• Dr. Anthony Strawa (NASA)

★ HESTEMP ★ NASA

Works Cited

★ “All about the Vowels! Cool Baby Names That Begin with A, E, I, O and U.” Babyology, 9 Dec. 2016, babyology.com.au/pregnancy/baby-names/vowels-cool-baby- names-begin-e-o-u.html. ★ “Campbell's Condensed Chicken Noodle Soup.” Campbell's Soup, www.campbells.com/product/chicken-noodle-soup/. ★ “Fixed-Wing UAV / Aerial Photography / for Agricultural Applications / Carbon Fiber RX60 Ageagle.” The Online Industrial Exhibition, DirectIndustry, www.directindustry.com/prod/ageagle/product-182402-1802685.html. ★ “Freshman Year Vs. Senior Year Of College Explained By Gifs.” The Odyssey Online, 10 Nov. 2017, www.theodysseyonline.com/freshman-year-verses-senior-year. ★ “Freshman Year Vs. Senior Year Of College Explained By Gifs.” The Odyssey Online, 10 Nov. 2017, www.theodysseyonline.com/freshman-year-verses-senior-year. ★ Hunt, Product. “Gopro Karma GIF by Product Hunt - Find &amp; Share on GIPHY.” GIPHY, GIPHY, giphy.com/gifs/producthunt-gopro-karma- l2SpPwDuUIHrExf3O. ★ Lavars, Nick. “Intercepting Radio Signals Can Reveal If a Drone Is Spying on You.” New Atlas - New Technology &amp; Science News, New Atlas, 15 Jan. 2018, newatlas.com/radio-signals-spying-drone/52968/. ★ Schaub, Hanspeter, and John L. Junkins. Analytical Mechanics of Space Systems. American Institute of Aeronautics and Astronautics, Inc., 2018. ★ “anna_elsewhere.” The Old Reader, theoldreader.com/profile/anna_elsewhere?page=9.