Design and experimental research of a quadrocopter flying robot

Abstract

The drone is an unmanned aerial vehicle. Currently, many commercially available remote controlled flying toys are used to be called drones. This is an erroneous nomenclature, because the drone must have an autonomus flight function implemented. Due to it's simple mechanical construction, the most popular drones are in the form of a multirotor, in which arrangement the engines are placed in one plane. One of the most important advantages of this type of robots is the ability to maintain a certain position in space. Today, this allowed for e.g. taking photos from the air or inspecting hard-to-reach places. For use for environmental protection purposes, drone equipped with appropriate sensors and instrumentation may be used to monitor air pollution. The mechanical part of a quadrocopter flying robot was based on a TAROT frame with a 450mm engines spacing. The frame has been expanded with a dedicated set of legs to raise the clearance up to 150mm. Four dedicated EMAX MT2213 electric motors were installed on the frame, which are the main drive. They are characterized by the propeller hub-free-mounting, which minimizes possible imbalances. A single engine cooperating with a dedicated 10-inch propeller and a 4.5-inch pitch generates a maximum thrust of a 0.85kg. In the case of this system, it sums to a total of 3.4 kg. The weight of the ready to flight robot is 1.35 kg. To power the robot, a lithium-polymer battery with a capacity of 2.2 Ah is used, providing flight time of about 8 minutes. The basic work mode of the robot is a manual one, which means a self leveling mode with manual control. In addition to this mode, an autonomous navigation mode using GPS coordinates has been implemented. This navigation mode was also been tested during field tests. The operation of this navigation mode is very similar to the position maintaining mode, but operates on a larger scale. The robot in this mode is vectorically controlled, performing forwards/backwards and sideways movements to the set location.

Modelling and simulation tests of a quadrocopter flying robot

“…For this purpose, Euler-Lagrange equations were used. The coordinate system and the way of determining the order of the motors in this work were consistently assumed as in previous works Ciesielka, 2018, Ciesielka andSuchanek, 2017). The schematic of the quadrocopter robot is presented on Figure 1.…”

“…The authors of this work designed, constructed and carried out verification tests of the original quadrocopter flying platform. The construction and field tests were presented in the papers Ciesielka, 2018, Ciesielka andSuchanek, 2017). The purpose of this work was to develop the mathematical models of a quadrocopter flying robot and also to determine the location of the inlet of a particulate measurement (PM) measurement system.…”