QUAD-COPTER
CONCEPTS
QUAD-COPTER THEORY :
Quad-copter uses four propellers, each controlled by its own motor and electronic speed controller. Using the IMU(inertial measure unit) we are able to measure the angle of the Quad-copter in terms of X, Y, and Z and accordingly adjust the RPM of each motor in order to self-stabilize its self. The Quad-copter platform provides stability as a result of the counter rotating motors which result in a net moment of zero at the center of the Quad-copter.
The figure above shows that the net momentum at the centre i.e. at F3=0
Using this principle we adjust the speed (RPM as a function of the voltage provided to the motor) of each individual motor in order to correctly manipulate Quad-copter’s yaw, pitch, and roll. Pitch and roll can be controlled by changing the speed of the appropriate motors, while yaw control involves delicate balancing of all four motor functions in order to change the moment force applied to the quad.
Three most important angles With respect to a Quad:
• YAW ANGLE: The angle between an aircraft's longitudinal axis and its line of travel, as seen from above.
• PITCH ANGLE: The angle between an object's rotational axis, and a line perpendicular to its orbital plane.
• ROLL ANGLE: The angle of rotation of a vehicle about its longitudinal axis.
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Figure shows Roll,Pitch and Yaw for an aircraft. |
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| ROLL |
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| PITCH |
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| YAW |
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| Movement of the Quad - Copter |
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