Systematic Design and Implementation of a Micro Unmanned Quadrotor System

TLDR

The paper provides a systematic guideline for designing and building a micro quadrotor UAV capable of autonomous flight. The design approach is organized into three stages: a structural analysis that avoids resonant frequencies using MSC Nastran, an avionics layout of sensors, microprocessors and ESCs on custom PCBs, and a Newton–Euler mathematical model with parameter identification. The resulting micro UAV weighs less than 40 g, supports an 8‑minute flight, and its flight test results are presented and analyzed.

Abstract

This paper presents a guideline to systematically design and construct a micro quadrotor unmanned aerial vehicle (UAV), capable of autonomous flight. The designed micro UAV has a gross weight of less than 40 g including power supply sufficient for an 8-min flight. The design is divided into three parts. First, investigation is made on the structural design of a conventional quadrotor. The quadrotor frame is then carefully designed to avoid any potential structural natural frequencies within the range of rotors operating speeds, based on simulation results obtained from MSC Nastran. Second, avionic system of the aircraft will be discussed in detail, mainly focusing on the design of printed circuit boards which include sensors, microprocessors and four electronic speed controllers, specially catered for micro quadrotor design. Last, a mathematical model for the micro quadrotor is derived based on Newton–Euler formalism, followed by methods of identifying the parameters. The flight test results are later described, analyzed and illustrated in this paper.