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    Seare Girum Gebrehaweria Department of Electronics and Communication Engineering Mekelle Institute of Technology

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    Seare Girum
    This document proposes designing an Arduino-controlled self-leveling quadcopter using PID control. The quadcopter would use an Arduino board instead of a pre-programmed flight controller to reduce costs. The goals are to implement PID control to correct errors during flight and understand quadcopter basics. Materials needed include a frame, brushless motors, electronic speed controllers, an IMU sensor, radio transmitter/receiver, and battery. The design methodology involves calibration, testing the functioning, and making corrections using PID control. Future work could integrate deep learning and image processing.

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    Seare Girum Gebrehaweria Department of Electronics and Communication Engineering Mekelle Institute of Technology

    Uploaded by

    Seare Girum
    30 views9 pages
    This document proposes designing an Arduino-controlled self-leveling quadcopter using PID control. The quadcopter would use an Arduino board instead of a pre-programmed flight controller to reduce costs. The goals are to implement PID control to correct errors during flight and understand quadcopter basics. Materials needed include a frame, brushless motors, electronic speed controllers, an IMU sensor, radio transmitter/receiver, and battery. The design methodology involves calibration, testing the functioning, and making corrections using PID control. Future work could integrate deep learning and image processing.

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    project on the arduinoquadcopter

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    final project edited

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    This document proposes designing an Arduino-controlled self-leveling quadcopter using PID control. The quadcopter would use an Arduino board instead of a pre-programmed flight controller to reduce costs. The goals are to implement PID control to correct errors during flight and understand quadcopter basics. Materials needed include a frame, brushless motors, electronic speed controllers, an IMU sensor, radio transmitter/receiver, and battery. The design methodology involves calibration, testing the functioning, and making corrections using PID control. Future work could integrate deep learning and image processing.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    30 views9 pages

    Seare Girum Gebrehaweria Department of Electronics and Communication Engineering Mekelle Institute of Technology

    Uploaded by

    Seare Girum
    This document proposes designing an Arduino-controlled self-leveling quadcopter using PID control. The quadcopter would use an Arduino board instead of a pre-programmed flight controller to reduce costs. The goals are to implement PID control to correct errors during flight and understand quadcopter basics. Materials needed include a frame, brushless motors, electronic speed controllers, an IMU sensor, radio transmitter/receiver, and battery. The design methodology involves calibration, testing the functioning, and making corrections using PID control. Future work could integrate deep learning and image processing.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    of 9

    Arduino controlled self-leveled

    Quadcopter using PID controlling mechanism

    Seare Girum Gebrehaweria

    Department of Electronics and communication Engineering

    Mekelle Institute of Technology

    Jun 5, 2021
    Project proposal on Designing Arduino
    controlled self -leveled Quadcopter using PID
    controlling mechanism

    ABSTRACT
    In today modern technology is arriving so fast and unmanned aerial vehicle (UAV) is one
    amongst the fastest Technology emerging. Quadcopter which is additionally referred to as
    Quadrotor is one among the UAV which basically have four motor and 4 propellers in
    comparison to other RC flying vehicles the quad in addition as multi rotors comes with the most
    stable platform. I have used an Arduino uno board for controlling the drone in flight mode
    instead of a pre-programmed flight controller board to scale back cost efficiently.

    INTRODUCTION
    Technological advancements in fields of rescue operations similarly in remote package
    delivering systems has led us to the event of a quadcopter. The quadcopter’s flight controller is
    an Arduino microcontroller and its flight movements can be controlled using a transmitter-
    receiver setup. The quadcopter can be used for the purpose of search & rescue operations as well
    as for remote package delivering operations.
    In the early development of the drones, they were used mainly in military issues like spying the
    enemy zone and surveillance but due to great advancement in today drones are used in many
    areas like filming, construction, guiding, traffic jam control, surveillance. Therefore, studying
    and designing cost effective drones helps you to get versatile advantages.
    Quadcopter unlike a traditional helicopter, relies on the four rotors to generate uplifting thrust by
    working together. Each rotor lifts a quarter of the overall weight which allows us to use less
    expensive and smaller motors. We control the movement of the quad by changing the amount of
    power delivered to each rotor to its propellers.
    In order for the balance to be maintained, the quad relies on the info it gathers from internal
    sensors, and adjusts the power it sends to every motor in order that the complete drone is leveled.
    To stay balanced all of the time the quad uses a sophisticated system, which usually makes the
    adjustments autonomously, and this is often where I am designing the Arduino board and its
    programming to really balance itself all of the time. This sort of self-stabilization will make the
    drone quite accessible to fly, as you I won’t have to constantly worry about losing control and
    damaging the quad.

    Problem statement
    Basically, the drone doesn’t balance in the air. Indeed, in sentimental physics we would tend to
    believe that if we run the engines at the same speed that is enough to keep the drone at a stable
    altitude. but in reality, the motors generate vibrations reflected on the cabin, the propellers
    generate turbulence, the drone is never perfectly balanced, the wind blows in an archaic manner.
    In short, the drone will inevitably tilt one side or the other side after a while. Therefore, what
    system should be designed to take a correction while the drone is flying?

    Mechanics of Displacement of the drone


    It is the propellers by their rotation which allow the drone to raise in the air. First of all, let's
    define the three-axis movement of the drone
    1, x Roll – movement from left to right
    2 y pitch – movement of backward and forward
    3 z yaw – the rotation on its self
    It is the propellers by their rotation which allow the drone to rise into the air, when they are
    parallel to the ground, they generate a perpendicular force. In order for the drone to be able to
    move in one direction it must be tilted in that direction.

    Goals and objectives


    General objectives
    1) To understand and learn the basics of a quadcopter drone
    2) To design a cost-effective quadcopter drone used for various purposes

    Specific objectives
    1) To implement PID controlling mechanism to correct the error during the flight of a
    quad copter

    Materials required
    1) Frame
    Frame is the Skeleton of the drone where all elements will be fixed. it can be different shapes
    and be built in from different materials. Frame is both light and rigid and have a power bus for
    connecting the battery to speed controllers.

    2) Brushless Dc motors
    Brushless motors spin at a higher speed and take less power. They have a KV rating which
    specifies the RPM of the motor with no load.

    3) ESC (electronic speed controller)


    ESC regulates the electric motor speed according to the control signal applied. The control signal is
    typically a PWM signal whose pulse width varies from 1ms to 2ms. A 1ms will turn off the motor and a
    2ms pulse will affect its full speed.
    4) Inertial measurement unit (IMU) MPU6050
    an inertial measurement unit is a sensor which combines a 3- axis gyroscope and 3-axis accelerometer
    integrated on a single chip. The gyroscope measures the rotational velocity or rate of change of angular
    position over a time along the x,y,z axis. On the other hand the MPU 6050 accelerometer measures
    gravitational acceleration along 3 axes and using some trigonometry math we can calculate the angle
    where the sensor is positioned. combining the accelerometer and gyroscope data we can get very accurate
    information about the sensor orientation.

    5) Rc transmitter and Rc receiver


    a radio control system is made up of two elements: the transmitter we hold in our hands and the receiver
    we put in the drone. The drone transmitter reads the stick inputs and sends them through the air to your
    receiver in real time. Once the receiver has this information it passes into the drone flight controller
    which makes the drone move accordingly.
    6) Lipo Battery
    It is used as a power source for the quadcopter. I chose a lipo battery because it is not heavy and the
    current levels are ideal for what you need. It is a lithium ion polymer rechargeable battery which uses a
    lithium ion technology.

    Block diagram
    Lipo Battery

    ESC 1 Motor 1

    ESC 2 Motor 2
    Arduino uno
    Microcontroller ESC 3 Motor 3

    ESC 4 Motor 4

    RC reciver
    MPU
    transmitter

    Design and Methodology


    Design and methodology is expressed as a flow diagram.

    start

    Design hardware for the quadcopter

    Setup calibration

    ECS calibration

    Flight mode calibration

    Error

    Occurred
    yes NO
    Test the quad copter functioning

    Is it
    accurate
    NO
    ?

    Yes

    Stop

    Conclusion
    This research paper mainly focuses on controlling the flight of the quadcopter using the Arduino
    as the main controller. This Arduino based quadcopter can be affordable in cheep amount for
    alternative purposes like pesticide sprinkling, end to end delivery services and surveillance in
    defense system. The main intent of this project is controlling the flight of the quad copter by
    taking the corrections using PID controlling mechanism but for the future I have a plan to
    include deep learning algorithms and image processing for using the quadcopter for versatile
    purposes.

    References
    1) Vibha kishor , Ms. Swati singh , “ Design and development of Arduino uno based
    quadcopter ”,2017
    2) Benripley(2014) Arduino Quadcopter Flight Controller [Source code].
    https://github.com/benripley/Arduino-Quadcopter
    3) Lobodol(2019) Quadcopter PID implementation [Source code].
    https://github.com/lobodol/drone-flight-controller
    4) brown, j., 2021. How to Build Arduino Quadcopter Drone: Step-by-Step DIY Project.
    [online] My Drone Lab. Available at: <https://www.mydronelab.com/blog/arduino-
    quadcopter.html> [Accessed 1 June 2021].
    5) Anurag singh Rajpot , Namrata Gadani, Sagar kalathia , “Development of Arduino Based
    Quadcopter”, 2016
    6) Charf Bennani karim , “The Design and Development of a general -purpose Drone” ,2020

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