The Effect of Physical Parameters on Quadcopter UAVs Aya Anderson
Background ★ This project is working with a quadcopter. ★ A quadcopter has four equally spaced rotors, Information 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=ω 2 ). The maximum ω 2 of quadcopter was found by ★ multiplying the voltage of the battery by the KV of the motor, both of which were found on the quadcopter. Rpm was converted to rad 2 /sec 2 which it is the units for ω 2 .
Method continued... ★ The variable of mass was changed in the simulation code in MATLAB. The maximum ω 2 in rad 2 /sec 2 was compared to ★ the simulation with unknown kg. ω 2 from the inputted mass was compared to ★ the maximum ω 2 that the quadcopter could fly to find the maximum and minimum mass where the PID coefficients could work. If the maximum ω 2 < experimental ω 2 , then it ★ was deemed physically impossible for the quadcopter to fly. Contrarily, if the maximum ω 2 > experimental ★ ω 2 , then it was physically possible for the quadcopter.
Data
http://www.projectrho.com/public_html/rocket/controldeck.php
★ A minimum and maximum mass have been Results/Analysis identified. ○ Maximum mass: 5 kilograms ○ Minimum mass: 0.5 kilograms ω 2 was used instead of ω because the motors ★ are moving in a circular motion with the velocity Average baby vector constantly changing directions. This weighs 3.5 kg results in centripetal acceleration. The force propelling the acceleration is thrust, and ω 2 is used in the formula for thrust. http://babyology.com.au/wp-content/uploads/2016/11/cute-baby-surprised-look-sl- 800x618.jpg Can soup weighs about 0.5 kg https://www.campbells.com/wp- content/uploads/sites/26/2014/12/campbellsCondensed- Chicken-Noodle1.jpg
Results Analysis ★ A linear function with a slope of y = 2415900 + continued... 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 ★ Quaternions give the ability to see the rotation of body in 3D space. Analysis ★ 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 on 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.
★ The simulations were performed to show that Conclusion 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 ★ This simulations performed included numerous assumptions that simplify the model, which continued... 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, one 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 & 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 & 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.
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