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II

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Team of work

Ahmed saeed abd_alhamed

Adel magdy adly fakhry

Marco karam safawt youssef

Hassan gamal abd_alatef

Muhammed sayed muhammed gouseph

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List of Abbreviations

UAV Unmanned Ariel Vehicles .

BLDC Brushless DC Motor .

EMF Electronic Force .

ESC Electronic Speed Control .

MOSFET Metal Oxide Silicon Filed Effect Transistor

MCU Micro Control Unit .

MEMS Micro Electro Mechanical System .

GPS Global Positioning System .

BEC Battery Eliminator Circuit .

LVC Low Voltage Cutoff .

OSC Oscillator

VI

List of contents List of Table X

List of Figures XI

Summary XV

Chapter 1 : interdicting quad copter

1.1 History 1

1.2 Concept Exploration 3

1.3 Flight platform 4

1.4 Payload Components 6

1.5 Applications 7

1.6 Project components 8

1.7 Brushless Motor 9

1.8 Introduction to the Multiwii 9

1.9 Global Positioning System (GPS) 10

1.10 LM 35 TEMPERATURE SENSOR 11

1.11 Lithium Polymer (Lipo) batteries 11

1.12 Wireless communication 12

1.13 Video System 12

Chapter 2 : Quadcopter Work Theory

2.1 Work Theory 14

2.1.1 What are Roll, Pitch, and Yaw? 16

2.1.2 Maintaining Control 16

2.2 Frame configuration 17

2.3 Flight Configurations 19

2.4 Propellers 19

2.4.1 Constant Speed Propellers 20

2.4.2 Propeller theory 21

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2.5 How to build Quad copter mechanical 24

2.6 Flight control 25

2.7 Quad Copter Dynamics and Theory 26

Chapter 3 : Mechanical & Electronic Design

3.1 Motor 27

3.1.1 Motor Control Design 32

3.1.2 DC motors 34

3.1.3 Components of a DC Motor 38

3.1.4 Comparison between Major Types of DC Motor 39

3.1.5 Comparing Between BLDC To Motors Types 44

3.1.6 Final Choice 45

3.2 Speed Controller for Quadcopter 46

3.3 MultiWii SE v2.0 Control Board Set-Up For Quadcopter 48

Chapter 4 : SoftWear

4.1 Microcontroller 58

4.1.1 BIT 59

4.1.2 BYTE 59

4.1.3 SFR REGISTERS 60

4.1.4 Input / Output Ports 61

4.1.5 Memory Unit 63

4.1.6 External Oscillator in EC Mode 66

4.1.7 External Oscillator in LP, XT or HS Mode 67

4.1.8 External Oscillator in RC and RCIO Mode 68

4.2 Lab View 70

4.2.1 Getting Started with Lab VIEW 71

4.2.2 Building a Virtual Instrument: 72

4.2.3 The Block Diagram 72

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4.2.4 Clarification 73

4.2.5 Finally the Layout of Lap View 74

Chapter 5 : sensor

5.1 Global Positioning System 75

5.1.1 History of GPS 76

5.1.2 What is GPS? 76

5.1.3 How it Works 78

5.1.4 The GPS Satellite System 79

5.1.5 What's a GPS Signal? 80

5.1.6 Sources of GPS Signal Error 81

5.1.7 Determining GPS Position 83

5.1.8 The Parts of GPS 86

5.1.9 SkyNav SKM53 Series 89

5.1.10 Application 91

5.2 LM-35 Temperature Sensors 94

5.2.1 Features 97

5.2.2 How does LM-35 Work? 97

5.3 Power source 98

5.3.1 Battery types 100

5.3.2 LiPo Battery 102

5.3.3 Battery charger 103

Chapter 6 : Wireless Communications

6.1 Wireless Communications 106

6.1.1 Wireless Module Serial UART (200M Range-433 Mhz) 107

6.1.2 Description 108

6.1.3 Features 108

6.1.4 Pin Definition 109

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6.1.5 AT Command mode (readjusting module settings) 109

6.1.6 Default 110

6.1.7 The comparison of Wi-Fi, Bluetooth and Wireless Module 111

6.2 Joystick Wireless Controller 113

6.2.1 Product Features 114

6.2.2 Package Includes 115

6.2.3 Specification 115

6.2.4 Changing the Control Mode 115

6.2.5 Transmitter Calibration 116

6.3 Wireless Infra - Red SpyCam 117

6.3.1 Video system 118

6.3.2 Wireless Mini Camera 208C 120

Chapter 7 : conclusion & future work

7.1 Conclusion 123

7.2 FUTURE WORK & Risks 124

Reference 127

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List of Table Chapter 3

Table 3.1 : Comparison between a BLDC motor to a brushed DC motor 44

Table 3.2 : Comparison between a BLDC motor to an induction motor 44

Chapter 5

Table 5.1 : Satellite Error 83

Table 5.2 : Pin Assignment 91

Table 5.3 : Pin Of LM 35 95

Chapter 6

Table 6.1 : Specification Wireless Mini Camera 208C 122

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List of Figures Chapter 1

Fig. 1.1 : First Quadcopter 1

Fig. 1.2 : final Product Of Our Quadcopter System 5

Fig. 1.3 : Remote Control 6

Chapter 2

Fig. 2.1 : Yaw Roll & Pitch 14

Fig. 2:2 : Multicopter Yaw Roll & Pitch 14

Fig. 2.3 : X Configuration & + Configuration 15

Fig. 2.4 : Maintaing control 17

Fig. 2.5 : Quadcopter X configuration 18

Fig. 2.6 : Quadcopter + configuration 18

Fig. 6.7: Cross Section Of a Propeller . An a(alpha) Denotes Angle Of Attack Of Airfoil Sections

19

Fig. 2.8 : Speed Propellers 20

Fig. 2.9 : Angular Propellers 21

Fig. 2.10 :Propellers 22

Fig. 2.11 : Frame 24

Fig. 2.12 : Flight Control 25

Fig. 2.13 : Tbrough Flaying Quadcopter 26

Chapter 3

Fig. 3.1 : Simple DC Motor 35

Fig. 3.2 : Torque Generated In DC Motor 36

Fig. 3.3 : Rotor In DC Motor 37

Fig. 3.4 : Rotor Brushed Motor 39

Fig. 3.6 : Rotor Brushless Motor 40

Fig. 3.7 : Transverse Section Of a BLDC Motor 41

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Fig. 3.8 : Brush - Less Motor Work 42

Fig. 3.9 : Brush - Less Motor 45

Fig. 3.10 : Speed Controller for Quadcopter 46

Fig. 3.11 : the connection in the ESC Battery Pack Black Red White Motor 47

Fig. 3.12 : Electronic Speed Control ESC 48

Fig. 3.13 : MultiWii SE v2.0 Control 48

Fig. 3.14 : Trough Flaying Quadcopter 49

Fig. 3.15 : Connect each ESC to its appropriate position as illustrated below 50

Fig. 3.16 : cable consist of three JR plugs with one wire each 50

Fig. 3.17 : previous ESC connections are not illustrated in the photo for sake of clarity

51

Fig. 3.18 : previous ESC connections are not illustrated in the photo for sake of clarity

51

Fig. 3.19 : connect the cables for your directional controls 52

Fig. 3. 20 : the ESC connections are not shown in this photo 52

Fig. 3.21 : Each pigtail (roll, pitch, yaw) connects to the appropriate channel on your receiver (rudder, elevator, ailerons)

53

Fig. 3.22 : the completed control board, with all connections in place, including the connection to the receiver

53

Fig. 3.23 : the arrow at the top of the drawing indicates the forward , 55

Chapter 4

Fig. 4.1 : Microcontrol Unit 58

Fig. 4.2 : BYTE 60

Fig. 4.3 : SFR Register 61

Fig. 4.4 : Input / Output Ports 62

Fig. 4.5 : Memory Unit 63

Fig. 4.6 : Oscillator in EC Mode 60

Fig. 4.7 : external oscillator 67

Fig. 4.8 : external oscillator in LP, XT or HS Mode 67

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Fig. 4.9 : quartz crystal 68

Fig. 4.10 : OSC IN RC 69

Fig. 4.11 : OSC IN RCIO 70

Fig. 4.12 : Lab View 70

Fig. 4.13 : Network Communication 71

Fig. 4.14 : Front Panel Of The Acquiring a Signal VI 72

Fig. 4.15 : Block Diagram Lab View 72

Fig. 4.16 : terminal in the block diagram 73

Fig. 4.17 : Layout of Lap View 74

Chapter 5

Fig. 5.1 : Global Positioning System (GPS) 75

Fig. 5.2 : Satellite Around Earth 77

Fig. 5.3 : GPS Satellite System 79

Fig. 5.4 : Sources of GPS Signal Error 81

Fig. 5.5 : Satellite Shading 82

Fig. 5.6 : D Trilateration 84

Fig. 5.7 : Estimate Black Point 84

Fig. 5.8 : Space Segment GPS 86

Fig. 5.9 : Control Segment Of GPS 87

Fig. 5.10 : User Segment Of GPS 88

Fig. 5.11 : Three Elements Of GPS 88

Fig. 5.12: SkyNav SKM53 Series Top View 89

Fig. 5.13: Pin Assignment 90

Fig. 5.14: LM 35 Temperature 95

Fig. 5.15: Circuit LM 35 Temperature 96

Fig. 5.16 : Alkaline Battery 100

Fig. 5.17 : NiMH Battery 101

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Fig. 5.18 : NiCad Battery 101

Fig. 5.19 : NiZn Battery 101

Fig. 5.20 : LiPo Battery 102

Fig. 5.21 : Balance Charger 104

Chapter 6

Fig. 6.1 : Wireless Module Serial UART (200M Range-433 Mhz) 107

Fig. 6.2 : Pin Definition 109

Fig. 6.3 : AT Command mode (readjusting module settings) 109

Fig. 6.4 : Joystick Module 114

Fig. 6.5 : Joystick Module Sample 116

Fig. 6.6 : Joystick Module Parts 117

Fig. 6.7 : Wireless System 118

Fig. 6.8 : Wireless Mini Camera 208C 120

XV

Summary

The military use of unmanned aerial vehicles (UAVs) has grown because of their ability

to operate in dangerous locations while keeping their human operators at a safe

distance. The larger UAVs also provide a reliable long duration, cost effective, platform

for reconnaissance as well as weapons. They have grown to become an indispensable tool

for the military. The question we posed for our project was whether small UAVs also

had utility in military and commercial/industrial applications. We postulated that

smaller UAVs can serve more tactical operations such as searching a village or a

building for enemy positions. Smaller UAVs, on the order of a couple feet to a meter in

size, should be able to handle military tactical operations as well as the emerging

commercial and industrial applications and our project is attempting to validate this

assumption.

To validate this assumption, my team considered many different UAV designs before we

settled on creating a Quad-Copter. The payload of our Quad-Copter design includes a

camera and telemetry that will allow us to watch live video from the Quad-Copter on a

laptop that is located up to 2 miles away. We are presently in the final stages of building

the Quad-Copter but we still improving our design to allow us to have longer flight

times and better maneuverability. We are currently experimenting with new software so

that we will not have to control the Quad-Copter with an RC controller but will instead

operate by sending commands from a remote laptop.

Our project has verified that it is possible to build a small-scale Quad-Copter that could

be used for both commercial use. Our most significant problems to date have been an

ambitious development schedule coupled with very limited funds. These constraints

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have forced compromise in components selected and methods used for prototype

development.

Our teams Quad-Copter prototype is a very limited version of what could be created in

a production facility using more advanced technology. Currently our Quad-Copter has

achieved only tethered flight because it cannot maintain a stable position when flying.

Our next step is to fix the software so that we can achieve controllable unmetered flight.

We are also working on integrating our own Graphical User Interface (GUI) which will

allow us to have direct control over all systems. Although there are many enhancements

that we could do to the design, we have proven that it is possible to produce a small scale

UAV that performs functions of interest to the commercial as well as industrial

applications.