Spherical Vtol Uav
Spherical Vtol Uav
Spherical Vtol Uav
Summer
project14
Project Mentors:
Rushikesh Chaudhari
Karthik Korada
TEAM MEMBERS
OBJECTIVE
The objective of this project is to design, build and test fly a
Spherical-shaped Vertical Take-Off (VTOL) Unmanned Aerial
Vehicle (UAV). This project consists of 5 components, namely
Propulsions, Electronics, Control System, Aerodynamics and
Structures.
This newly shaped UAV allows the propellers to be encased
within spherical-shaped struts, which enables the UAV to fly
into obstacles without damaging the propeller. This also
makes it safe for the pilot, as well as, anyone in the vicinity.
Running only on a single propeller-motor configuration, the
UAV is able to hover, climb vertically, and transit into
translation flight, which is similar to that of a helicopter.
A total of 3 prototypes were constructed where Prototypes 1
and 2 were constructed to investigate and study the
aerodynamics and structural components of the UAV. Only
after undergoing thorough experimentation and analysis to
optimise the various component designs, Prototype 3 was
finally constructed. The final product is only made possible by
integrating the electronics, control system and propulsion
components.
All the 3 prototypes achieve yaw, pitch and roll motion using 4
control surfaces i.e , four rudders placed symmetrically.
YAW Control:
PROTOTYPE I:
PROTOTYPE II:
The second UAV mimics a fixed wing aircraft capable of VTOL.
Similar to the spherical UAV, it is propelled by a single rotor which
is usually placed at the tip of the UAV. It is also capable of hovering
as well as transiting into translational flights which looks like a
normal fixed wing aircraft.
The all up weight of the structure was about 650 gms. In this
model we focused less on the strength and our priority was to
reduce the weight of the model. So we used 5mm biofoam instead
of the ply used earlier. Avionic 1400 KV motor was used.Use of
balsa was limited to the parts which required strengthening such
as the legs and bottom of the motor mount. Firstly we kept the CG
ARDUINO PROGRAMMING
We initially started working with Arduino UNO Board as our
programmer . But we realized that it has few number of PWM pins.
Hence, we switched to Arduino Mega 2560 Board .
IMU
MPU-6050
Then we started working on the code for stabilizing the UAV during
flight.
where
MV : Manipulated Variable
Kp: Proportional gain, a tuning parameter
Ki: Integral gain, a tuning parameter
Kd: Derivative gain, a tuning parameter
e: Error = SP - PV
t: Time or instantaneous time (the present)
T: Variable of integration; takes on values from time 0 to the
present t.
The current orientation of UAV is the process variable. The desired
orientation of UAV is the setpoint.Thus,error is the difference in the
PROTOTYPE III:
The third and the final prototype was constructed after the
successful testing of the electronic components