Modular Quadrotor MAVs

Abstract

Historically, helicopters with four rotors (quad-rotors) have been very uncommon, mainly due to the fact that most of the common payloads could be lifted using one or two rotors. However, the quad-rotor possesses some special characteristics that make it attractive. One would be the superior payload capacity. Two, is the simplicity of the control system: the absence of complex rotor mechanisms and just by independently adjusting the speed of each rotor it is possible to control both the attitude and the horizontal/vertical motion. This system is particularly suitable for small unmanned aerial vehicles (UAV), because it reduces the complex mechanism of the rotors (saving volume and weight) and simplifies the control algorithms required for stable, untethered flight. Although much progress has been made in the field of quad-rotor UAVs, it is still a great challenge to build a quad-rotor capable of fully autonomous flight. Before the decision of appropriate control algorithms, it is essential to have complete understanding of quad-rotor dynamics and equation of motion. This technical paper presents a detailed quad rotor model design as well as the detailed algorithm for the control system. An ANSYS flow simulation was carried out on the modular structure of the quad rotor. Different sensors were integrated with the control system to improve the stability and to reduce the pilot\u92s workload. Its capabilities will be enhanced with semi-autonomous and autonomous functions that were implemented with the usage of GPS