Table of Contents

1. Introduction.................................................................................... 5
1.1

Background and Motivation...........................................................................................5

1.2

Research Objectives.....................................................................................................6

1.3

Thesis Outlines............................................................................................................. 7

2. Background and Information............................................................ 8

2.1

What is and UAV........................................................................................................... 8

2.2

History of Quadcopters.................................................................................................9

2.3

Types of UAVs............................................................................................................. 11

2.4

Quadcopters State of the Art.......................................................................................14

3. Quadcopter Kinematics................................................................. 16
3.1

Quadcopter Structure..................................................................................................16

3.2

Quadcopter Basic Movements....................................................................................17

3.3

Frame Definitions........................................................................................................20

3.4

Kinematics of Quadcopter...........................................................................................24

4. Quadcopter Dynamics.................................................................... 26
4.1

Analysis with Logical Diagrams of the Quadcopter.....................................................29

4.2

Mathematical Description of the Quadcopter Elements...............................................32

4.2.1

Free Motion of the Quadcopter............................................................................32

4.2.2

External Forces....................................................................................................39

5. Prototype Architecture.................................................................. 43
5.1

System and components.............................................................................................44

5.1.1

Remote Control Transmitter.................................................................................44

5.1.2

Video Receiver System........................................................................................45

5.1.3

Battery Charger....................................................................................................46

5.1.4

Top plate and Bottom plate..................................................................................47

5.1.5

Arms.................................................................................................................... 47

5.1.6

Electronic Speed Controllers................................................................................48

5.1.7

The Brushless Motors..........................................................................................49

5.1.8

Propellers............................................................................................................. 50

5.1.9

Flight Controller....................................................................................................50

5.1.10

FPV Pilot Camera................................................................................................51

5.1.11

Movie Camera......................................................................................................52

1. Cuprins
5.1.12

Remote Control Receiver.....................................................................................52

5.1.13

Video transmitter..................................................................................................53

5.1.14

TBS Core............................................................................................................. 54

5.1.15

Battery.................................................................................................................54

6. Building Steps............................................................................... 56
7. Quadcopters actuators................................................................. 60
7.1

Thrust Actuation.......................................................................................................... 60

7.2

Propeller Model...........................................................................................................61

7.3

Motor Model................................................................................................................65

8. Control.......................................................................................... 67
Conclusions........................................................................................ 70
References......................................................................................... 71
Anexe