1. Design & Development of a Quad Rotor MAV Beniamin Apopei
Quattro Copter
Design & Development of a Quad Rotor MAV
Beniamin Apopei
14/09/2005

2. General Description Goals: Achievements:
Vertical Take off and Landing MAV
Stable and Maneuverable
Flight Time >10 min
Minimum Payload: 250g
As small as possible
Design, construction, matlab simulation and control
Achievements:
4 propellers MAV, 6 DOF
Physical and Mathematic modelling. Matlab simulation
Visual Interface for Control and Monitoring
Take off, stable hovering and landing

3. Why 4 propellers? Problems: Coupled inputs Complicated rotor mechanics
Watts / Weight Efficiency
Reaction Torque

4. 4 Propellers Model

5. Mathematic Model
States Vector
System Function
System Inputs

6. Sistem’s Stability Subsystem Operating Point Liapunov Function [1] [2]
We choose inputs
[3]
Results
[4]

7. Inputs Correlation
Altitude Variation as a result of Roll/ Pitch andYaw

8. Matlab Simulation Model
Simulation diagram

9. Visual Interface

10. Final Model

11. First Experiments Stability Noise problems Brushed Motors
A/D &Digital together
Serial Com
Software
Personal Satisfaction
Research Proposal