5/2/2023 0 Comments Autonomous quad copter![]() 3 cell Lipo Battery Charger + Power supply, 1x, All you really need is 5 or more channels. We used the highly overkill DX8 8CH Transmitter at $429.99. Our board was defective, so we ended up using a Atmel AVRISP mkII In-System Programmer at $34 RC Transmitter, 1x We first got USBasp AVR Programming Device for ATMEL processors at $4.95. Off-Board AVR Programming device one from Hobby King, 1x It does not need to be long, we used a six inch cable at $3.09. We used a 16gb card from amazon at $11.52. Wifi Card from, 1x,Īny linux supported wifi card should work. We used Microsoft-LifeCam-VX-5000 for $12.74. Really any usb webcam with linux support will work. They are currently hard to buy, you could place an order from a vendor on their site and wait a few months, or just get one from Amazon. A model A would work and probably better for $25. We used one of the older model B with 256mb of ram for $35.00. 3.5mm Bullet Connectors, at least 12xĪvailable in packs of 10 from hobby king for $1.59. 4mm Bullet Connectors, at least 1 male and 1 female.Ĭasing is nice, so we would suggest HXT 4mm Gold Connector w/ Protector at $3.64. We used 10 AWG red and black that can be bought from hobby king at for $2.99 a meter. Power Wire, 2x 6 inches high current pieces, We got a pack of 5 female female from hobby king at $1.65 that we cut in half. Servo Connectors, female to female from Hobby King, 4x, We used HobbyKing Micro UBEC 3A / 5v at $3.77. We used a 3 Cell Hobby King Battery Monitor at $3.99. This is a must have if you don't want to keep breaking batteries. ![]() This device changes color and beeps if the batter is at low voltage. We used Turnigy nano-tech 3300mah 3S 25~50C Lipo Pack at $26.72. Used to solder the entire switch circuit in a condensed form for the quadcopter. Used to switch between the RC receiver and Raspberry Pi signal. Quad 2-Input Mux (74HC157N) from Digikey, 1x ![]() Used in the low pass filter before the Schmitt trigger. We used 4-40 x 5/8 inch nuts and matching bolts. Washers can be used when directly bolting to cardboard, but we found that you did not really need them. Nuts and bolts, 16x sets of 1 nut and 1 bolt, We used duct tape for mounting the foam landing pads as well as for low force attachment of electronics. We used something along the lines of this. Cyanoacrylate based glue,Īnything will work, the thicker the glue, the easier it is to work with. Foam block, cut into 4 2 inch by 4 inch chunks, Any 5 or more channel receiver will do though. We got a CSRC-RX3000 Spektrum DSM2 Compatible 2.4Ghz 6-Ch Receiver on sale for $9.99. We got a pack of Gyro / Flight Controller Mounting Pad at $1.99 but one can also use double sided tape. We used HobbyKing Multi-Rotor Control Board V2.1 at $12.99 Flight Controller Mounting Pads from Hobby King, We used 3 bladed 8x4x3 GWS props at $2.00 each. Propellers from GWS props, 2x counterclockwise rotating, 2x clockwise We used TURNIGY Plush 18 amp Speed Controller at $11.90 each. Electronic Speed Controllers (ESC) from Hobby King, 4x, Our motors also came with propeller clamps which allowed us to easily connect our propellers to the motors. We used Turnigy D3530/14 1100KV Brushless Outrunner Motor at $14.56 each. ![]() Motors from Hobby King, 4x + Propeller clamps, The efficiency and robustness of the proposed cascaded controller with disturbances, noises, and model parameters uncertainties have been tested in MATLAB.The sheet we we used was 32"x20" with a thickness off around 4.1mm. To ensure that the quadcopter follows the pre-defined trajectory, a combination of Integral Backstepping and Proportional Derivative (PD) controllers are used for the translational subsystem. An LPV H ∞ controller has been designed to stabilize the orientation actuator’s dynamic. It can be considered as a quasi-Linear Parameter Varying (LPV) system. The rotational subsystem contains several time-varying parameters, such as the mass, the moments of inertia, and the speed of the rotor. The quadcopter model is separated into two subsystems: rotational and translational. These moments of inertia are recalculated in realtime according to the mass changes. Besides the change of the mass, the moments of inertia with respect to the three axes are also changing. The first one involves a gradual continuous reduction of the mass throughout the flying time, and the second involves an abrupt change at some point during the flight. In the context of this paper, two ways of changing the mass of a quadcopter are considered. This paper presents a hybrid robust control strategy to solve the trajectory tracking function of a quadcopter with time-varying mass. ![]()
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