A Project Report on

MICROCONTROLLER BASED BI-COPTER

Submitted for partial fulfillment of award of

BACHELOR OF TECHNOLOGY

In

ELECTRONICS & COMMUNICATION ENGINEERING

By

ABHISHEK KUMAR UPADHYAY

Roll -75113002

Under the Supervision of

Er. DEEPAK DHADWAL

Er. JAPJEET KAUR

At

MAHARISHI MARKANDESWAR UNIVERSITY, SADOPUR

AMBALA, HARYANA

APRIL,2015

CERTIFICATE

This is to certify that ABHISHEK KUMAR UPADHYAY has carried out the work

presented in this project entitled BI-COPTERfor the award of Bachelor of

Technology in Electronics & Communication Engineering from Maharishi

Markandeshwar University, Sadopur, Ambala, under my supervision.

Name of Supervisor:Er. DEEPAK DHADWAL &Er.JAPJEET KAUR

Designation: Asst. Professors

ACKNOWLEDGEMENT

The project submission that is a part of course curriculum for B.Tech (Electronics and

Communication Engineering) is aimed at providing hands-on experience and practical

exposure. During the course of my project we came across a number of problems to

tackle and overcome. Now the project is complete, we feel my duty to thank all those

who have directly or indirectly helped me to cross several hurdles. We would like to

express my gratitude to Er.DEEPAK DHADWAL &Er.JAPJEET KAUR, without

whom this project was not possible to complete. It was a great pleasure to work together

with him. We are also thankful to Proff.PARVEEN BAJAJ of Electronics and

Communication Engineering Department who devoted their valuable time and helped

me in all possible ways towards successful completion of my project work.

ABHISHEK KUMAR UPADHYAY

75113002

ABSTRACT

This is a hovering bi-copter to be self-stabilized in pitch and roll the use of electronic

components in those directions. A mathematical model of aircraft dynamics is developed

in which the non-cyclic prop rotors are allowed to process freely as gyroscopes since

these are known to embody stabilizing elements. In the prior art of bi-copter oblique

active tilting (OAT), the prop rotors generate gyroscopic control moments only when

forcibly tilted, and stabilization in pitch and roll requires electronic attitude sensors and

actuator servos. A self-stabilized system, however, would reduce cost, stresses and

energy consumption, and could be scalable without limit. Through analysis of the

characteristic equations it is found that aircraft angular positions cannot be so stabilized,

but their velocities can be, maintaining the benefits listed above. This stability is similar

to that due the fly bar damping system of early Bell helicopters and still useful in small

models today.

LIST OF CONTENTS

Certificate………………………………………………………………………………………...ii

Acknowledgement…………………………………………………………………………….…iii

Abstract…………………………………………………………………………………………...iv

List of contents…………………………………………………………………………………v

List of figure……………………………………………………………………………………vi

List components………………………………………………………………………………vii

chapter. Title Page No.

1 Introduction and features 13

2 Block diagram of bi-copter 14-26

3 Circuit Description 27-28

4 Component Description 29-47

5 Software tool 48-57

6 Working Terminology 58-68

7 Conclusion 69

8 References 70-71

LIST OF FIGURES

Figure.

No.

Figure Name Page No.

1 Fig no.2.1 Block diagram of bi copter 2

2 Fig no.2.2 1000 mahlipo Battery 2

3 Fig no.2.3 ESC of 20 amps 3

4 Fig no.2.4 Propeller 3

5 Fig no.2.5 Brushless Motor 4

6 Fig no.2.5 Servo motor 5

7 Fig no.2.6 Flight controlling board 5

8 Fig no.2.7 Pin description 7

9 Fig no.2. 8 Typical receiver servo connection 7

10 Fig no.2.9 Connection detail 8

11 Fig no.2.10 connection of servo Propeller &

ESC

12

12 Fig 3.1 Transmitter 15

13 Fig 3.2 Receiver 16

14 Fig.4.1 PIC Microcontroller 17

15 Fig no.4.1.2 Pin Diagram 17

16 Fig no.4.2.1 HT 12E 30

17 Fig no.4.3.1 HT 12D 31

18 Fig no.4.4.1 ST 12E 32

19 Fig no 4.4.2 Transmitter Circuit diagram 34

20 Fig no4.4.3 receiver circuit diagram 35

21 Fig no 5.1.1 eagle software open window 36

22 Fig no.5.1.2 new create projects 37

23 Fig no.5.1.3 schematic diagram window 38

24 Fig no.5.1.4 select components 38

25 Fig no.5.1.5.complete schematic diagram 39

26 Fig no5.1.6 complete PCB designing board 39

27 Fig no.5.2.1 proteus design window open 40

28 Fig no.5.2.2 Select isis in proteus software 41

29 Fig no.5.2.3 Open new projects in proteus

software

41

30 Fig no.5.2.4 Select components in proteus

software

42

31 Fig no.5.2.5 assemble of components in proteus

software

43

32 Fig no.5.3.1 MP lab window 44

33 Fig no.5.3.2 complete program window 44

34 Fig no.5.3.3 complete program window out put 45

35 Fig no.6.3.4.1 Bi-copter 48

36 Fig no.6.3.4.2 Top: Free-tilt aircraft hovering

undisturbed with rotors level. bottom: rotors

processing inward and consequently forward

due to externally applied moment

49

37 Fig no.6.3.5.1 Applied external rolling moment

and resulting prop rotor tilting.

50

38 Fig no.6.3.5.2 Static roll stability requires a

raised center of mass, the amount of which is

reduced by the presence of prop rotor drag-

torques ( shown

50

39 Fig no.6.3.5.3 Differential tilting initiated by

roll disturbance begins to yaw the aircraft.

51

40 Fig no.6.3.5.4 (a) Nymbus OAT radio-controlled VTOL model aircraft by the author.

53

41 Fig no.6.3.5.5 (b) Propeller pod close up showing how oblique tilting arises from bent

spar-end.

53

42 Fig no. 6.3.5.6Oppositely spinning control

moment gyroscopes of orbital satellite. Each is

tilted towards the other at rate together

generating net moment M on vehicle (from

Gress, 2007).

54

43 Fig no 6.4.2.1. Top views of OAT aircraft

showing the two possible spin directions

relative to aircraft, and the associated proper tilt

directions for generating the reinforcing

gyroscopic and drag-torque control moments.

55

44 Fig no.6.4.3.1 OAT stick aircraft. Pitch angle

and tilt angles both shown positive. From

(Gress, 2007).

56

LISTOF COMPONENTS

Sr. No Quantity Name of Component Specification Price

1 2 BRUSLESS MOTOR 1100 Rpm/v 4000

2 2 SERVO MOTOR 700

3 2 ESC 2000

4 2 PROPELLER 300

5 1 BATTERY 11.1 V 2000

6 1 BATTERY CHARGER 11.1 1500

7 2 PIC16F877 16MHZ 400

8 4 Tx and Rx 433MHZ 1000

9 2 HT12 IC 300

10 2 ST12 IC 500

11 2 XTAL 16MHZ 30

12 6 BASE 80

13 4 PCB 150

14 4 7805 60

15 100 RESISTOR 100

16 LED 60

17 SWITCH 20

18 JUMPER WIRE 50

19 CAPACITOR 50

20 8 FEVILITE 320