Quadcopter

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California State University, Northridge

Quad Copter Flight

A thesis submitted in partial fulfillment of the requirements For the degree of Master of Science in Electrical Engineering

By Peter O. Basta

May 2012

The graduate project of Peter O. Basta is approved:

Dr. Deborah van Alphen

Date

Dr. Somnath Chattopadhyay

Date

Dr. Xiaojun Geng, Chair

Date

California State University, Northridge

ii

"You must be the change you wish to see in the world." -Gandhi

iii

TABLE OF CONTENTS

Signature Page ................................................................................................................................. ii Dedication ....................................................................................................................................... iii List of Figures ................................................................................................................................. vi List of Tables ................................................................................................................................ viii Abstract ........................................................................................................................................... ix Chapter 1. Introduction 1.1 Purpose and Goals.................................................................................................................. 1 1.2 History.................................................................................................................................... 2 1.3 Prospective Applications........................................................................................................ 4 Chapter 2. Quad Copter Dynamics and Theory 2.1 Concepts of Quad Copter Flight ............................................................................................ 5 2.2 Dynamics of a Quad Rotor..................................................................................................... 7 2.3 Assumptions ........................................................................................................................... 9 Chapter 3. Control Theory 3.1 Closed-Loop Control Systems ............................................................................................. 10 3.2 Classical Control Using PID Method................................................................................... 11 3.3 Control Tuning ..................................................................................................................... 13 3.31 Vertical Position Control ............................................................................................... 14 3.32 Horizontal Position Control ........................................................................................... 15 3.33 Roll and Pitch Position Control ..................................................................................... 15 3.34 Yaw Position Control..................................................................................................... 16 3.4 Rotor Theory ........................................................................................................................ 16 Chapter 4. Electrical Control Systems 4.1 The Microcontroller - Arduino Mega 2560 ........................................................................ 18 4.2 Electronic Speed Controllers ............................................................................................... 20 4.21 Turnigy Plush 18A ESC Modules.................................................................................. 21 4.3 The Battery Pack .................................................................................................................. 22 4.31 Zippy 4000 mAh Battery Pack Module ........................................................................ 23 4.4 The Gyroscope Transducer...
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