ISSN: 2278-0181
Vol. 3 Issue 5, May - 2014
I.
flight;
stability;
INTRODUCTION
obstacle;
HARDWARE DESIGN
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Keywordsquadcopter;
avoidance; BLDC
II.
1
1 + 2
1 = 2.977
(1)
(2)
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2 =
5 1.4 0.2
0.02
(10)
2 = 170
(11)
(12)
=
150
= 22.67
= 5 =
(7)
1 = 1.4V
(8)
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(16)
22.67 103
250
(17)
= 9.067 105
(18)
min
(19)
5 0.6
9.067 105
(20)
1 =
1 =
1 = 48,529
(21)
1 47
(22)
(5)
(6)
1 = 0.6
2 =
(4)
1 = 0.2
(15)
(3)
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1 = 250
(14)
= 5
(13)
(9)
C. Accelerometer unit
An analog accelerometer derives an output voltage for
the force of acceleration exerted on the chip on each axis. A
three axis accelerometer will have three analog output pins.
Each analog pin has high output impedance. Fig. 6 depicts
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CH
CL
BH
BL
AH
AL
On
Off
Off
Off
Off
On
On
Off
Off
On
Off
Off
Off
Off
Off
On
On
Off
Off
On
Off
Off
On
Off
Off
On
On
Off
Off
Off
Off
Off
On
Off
Off
On
50 Hz =
1
2 32 K (,,)
(,,) = 0.1F
(23)
(24)
(25)
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1
=
2 (,,)
SOFTWARE DESIGN
(26)
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Start
Start
Yes
Is drive
on?
Turn off
transmitter
No
Read
Intensity(I)
Retrieve
Vsupply/2
Yes
No
Is
Floating?
Ignore
Yes
Retrieve
BEMF1 at
commutation
and BEMF2 at
commutation.
No
Turn on
transmitter
Read Intensity
(I)
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Correct the
commutation
rate.
B. Accelerometer interface
The accelerometer interface reads the analog values
from the three axis of the accelerometer and stores it in
general purpose memory locations of the microcontroller.
The rate at which the values are retrieved must be lesser
than the bandwidth of the accelerometer.
Obstacle
detected
Yes
I>
Obstacle
threshold
No
No Obstacle
detected
IV.
C. Obstacle avoidance interface
The obstacle avoidance modules use the intensity of the
reflected light to determine if obstacles are located in the
vicinity.
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I>
Brightness
threshold
INTEGRATED SYSTEM
2 + 2 + 2
(27)
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Start
Read
Accelerometer
X, Y, Z
Calculate
gravity value
(g)
B. Direction control
The direction of flight is controlled by maintaining a
steady value of acceleration in a particular direction. If the
quadcopter has to move to the right, the motors on the right
are gradually spun down while monitoring the
accelerometer value from all axes. There should be a 0.02g
increase in the value from the Y axis. The value of Z axis
and X axis is maintained at g and 0 respectively.
Start motors at
lowest speed
Correct
corresponding
motor speed
Is Z = g
Yes
Finish
Fig. 10. Take off Flowchart
VI.
[1]
[2]
[3]
[4]
[5]
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No
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CONCLUSION
Is X,Y = 0
Yes
C. Manual Control
The manual control of the quadcopter is done by
transmitting code words to the control unit. The control unit
interprets the code word for thedirection of motion and
performs the required function for flight in that direction.
V.
No
Correct
corresponding
motor speed
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REFERENCES
2085