Minor Project on Vertical Take-off Landing System

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Minor Project onVertical Take-off Landing System

• SUBMITTED BY-
• SHUBHAM SHARMA (10710102811)
• ABHISHEK ARORA (11410102811)
• VIBHANSHU JAIN (11610102811)
• RAZI AHMAD (13210102811)

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Index

• About VTOL Systems
• Objective of our Project
• About VAAYU(Our Prototype)
• Statement About The Problem-existing System
• Simulation using Simulink
• Results
• Working Model of VAAYU-UAV
• Future Plans
• References

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About VTOL Systems

• A vertical take-off and landing (VTOL) aircraft
  is one that can hover, take off, and land
  vertically. This classification includes
  fixed-wing aircraft as well as helicopters and
  other aircraft with powered rotors, such as
  cyclogyros/cyclocopters and tilt rotors.
• A quad copter, also called a quad rotor
  helicopter, quad rotor, is a multicolor
  helicopter that is lifted and propelled by four
  rotors.
• Next Slide has a picture of Quadcopter.

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About VTOL Systems

• The Picture of a VTOL-

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Objective of Project

• Objective Modeling and PID Controller Design
  for a Quadrotor Unmanned Air Vehicle
• Our Project presents the modeling of a four rotor
  vertical take-off and landing (VTOL) unmanned air
  vehicle known as the quadrotor aircraft. It
  presents a new model design method for the flight
  control of an autonomous quad rotor . The dynamic
  model of the quad-rotor, which is an under
  actuated aircraft with fixed four pitch angle
  rotors, will be described. This paper explains
  the developments of a PID (proportionalintegral-
  derivative) control method to obtain stability in
  flying the Quad-rotor flying object. The model
  has four input forces which are basically the
  thrust provided by each propeller connected to
  each rotor with fixed angle. Forward (backward)
  motion is maintained by increasing (decreasing)
  speed of front (rear) rotor speed while
  decreasing (increasing) rear (front) rotor speed
  simultaneously which means changing the pitch
  angle. Left and right motion is accomplished by
  changing roll angle by the same way. The front
  and rear motors rotate counter-clockwise while
  other motors rotate clockwise so that the yaw
  command is derived by increasing (decreasing)
  counter-clockwise motors speed while decreasing
  (increasing) clockwise motor speeds.

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About VAAYU-UAV

• VAAYU-UAV is a multirotor which represents a
  technological dream achieved by a team of
  undergraduate of AIACTR students with the aim to
  develop a VTOL system for Aerial Surveillance.
• The VAAYU has been designed by fusion of research
  work in the field of mechanical, electronics ,
  control system, and embedded programming.

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Statement About The Problem-existing System

• In contrast to terrestrial mobile robots, for
  which it is often possible to limit the model to
  kinematics, the control of aerial robots
  (quadrotor) requires dynamics in order to account
  for gravity effects and aerodynamic forces . In
  general, existing quadrotor dynamic models are
  developed on the hypothesis of a unique rigid
  body which is a restrictive hypothesis that does
  not account for the fact that the system is
  composed of five rigid bodies four rotors and a
  crossing body frame. This makes the explanation
  of several aspects, like gyroscopic effects, very
  difficult. Additionally, simplification
  hypotheses are generally introduced early in the
  model development and leads in general to
  misleading interpretations

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Simulation Using Simulink
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Simulation Using Simulink
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Simulation Using Simulink
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Simulation Using Simulink
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Simulation Using Simulink
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Results
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Working Model-VAAYUBelow is the CATIA Design of
Quad copter created to calculate Moment of
Inertia and Center of Mass of the VTOL System.
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Working Model-VAAYU
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Working Model-VAAYUPicture of Arduino IDE
Programs
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Future Plans

• Simulink Graph Plot
• Perfect Calibration
• Navigation and collision avoidance
• Active/passive vibration suppression
• User interface/mission management
• Testing and applications
• Camera Integration
• GPS Point selection Navigation

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References

1. P. I. Corke, Robotics, vision and control
   fundamental algorithms in MATLAB, ser. Springer
   tracts in advanced robotics. Berlin Springer,
   2011, no. v. 73.
2. M. D. L. C. de Oliveira, Modeling,
   identification and control of a quadrotor
   aircraft, Ph.D. dissertation, Czech Technical
   University.
3. Hamel T. Mahoney r. Lozano r. Et Ostrowski j.
   Dynamic modelling and configuration
   stabilization for an X4-flyer. In the 15éme IFAC
   world congress, Barcelona, Spain. 2002.
4. UAVs. New world vistas Air and space for the
   21st centry. Human systems and biotechnology
   systems, 7.01718,1997.
5. Pounds, P., Mahony, R., Hynes, P., and Roberts,
   J., Design of a Four- Rotor Aerial Robot,
   Australian Conference on Robotics and Automation,
   Auckland, November 2002.
6. Bouabdallah, S., Murrieri, P., and Siegwart, R.,
   Design and Control of an Indoor Micro
   Quadrotor, ICRA, New Orleans, April 2004.

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Thanking You