Paper Key : IRJ************796
Author: Lijalem Gebrehiwet,Abenezer Zegeye,Gedlu Solomon ,Betelhem Nigussie ,Eden Abeselom ,Bethelhem Girma
Date Published: 03 Aug 2022
Abstract
ABSTRACTThe purpose of this paper is to put basis information and parameters which are required for the actual detail designs of a Quadrotor. We propose a ESSTI model pesticide spraying Quadrotor in which all the four engines (motor-propellers) are situated on the above of the frame. All the airframe designs and parameters are new and customized in domestic products. The electronic/electrical components to be customized and calibrated to satisfy the performance of the new Quadrotor. Regarding to the dynamic, kinematic and aerodynamic modeling they are performed after detail design phase and complete 3D model. The Quadrotor basic airframe dimensions are determined including the individual components. All the necessary equipments, weight analysis and cost estimation are tabulated and calculated which helped greatly while designing the Quadrotor. The main features of this design are to manufacture a pesticide spraying Quadcopter with four transverse bamboo sticks as a boom. The hollow bamboo can accommodate the ESC and wiring to motor-propeller assembly. The bamboo and other frame parts are found locally and make the cost cheaper. The detail design, mathematical analysis and 3D modeling are analyzed in result and discussions. We take some estimation to design the Quadrotor.KeywordsQuadcopter, Pesticide sprayer, Design Analysis, Quadcopter motion, Mathematical ModelingI.INTRODUCTIONA Quadcopter, also called a Quadrotor helicopter are a multicopter that is lifted and propelled by four rotors. The lift is generated by a set of revolving narrow chord airfoil. A quadrotor is a multicopter that is lifted and propelled by four rotors [1]. The airframe design types of a quadrotor differs depending the number of arms (booms) and motor assembly such as tricopter, Quadcopter (with x and + configurations), Hexacopter, Octocopter and other configurations. Nowadays there are different designs of Quadrotor which are used for different purposes [2]. Manual spraying of pesticide and fertilizers cause a number of chronic diseases [4] to rural areas. Agriculture is the backbone of the Ethiopian economy and is not modernized very well. There are modern technologies that greatly help Ethiopias farmers such as the drone applications with various benefits like farm assessments and preserving farm conditions namely checking for weeds, watering, seed spray, bacteria, and chemical spray e.t.c. In the current need of the country, the project is of Quadcopter pesticide sprayer is found to be important. It will have dual benefits for agricultural fields and prevention of locust infestation as optional. The major objective of this project is to create a quadrotor system which has a better agility, stability, endurance with optimal payload capacity of spraying pesticides which can cover visible areas. The Quadcopter pesticide sprayer system consists of; The Quadcopter and the spraying mechanisms with a brushless motor [5]. From the function of the Quadrotor, it is wise approach to map systems and subsystems. This made easier to design a Quadcopter which fulfill the basic function and the basic equipments [6]. a)Basic componentsThe flight controller transmits signals to Electronic Speed Controllers (ESCs) and the transmitted data changes the motors rotational speeds which in-turn is responsible for the stability of the Quadrotor. They are designed to control the speed and direction of a motor and there are different features for various applications [7]. The ESC has wire ports in both sides namely; the power input wires, 3 bullet connectors and 3-pin R/C servo control.Battery used in quad rotors nowadays is Li-Po (Lithium-Polymer) batteries. Li-Po has high capacity-low weight with a high discharge rates. Small battery packs range is 0.1Ah (100mAh) though the medium sized drones 2-3Ah (2000mAh-3000mAh) [9]. The receiver on a quadrotor is an electronic device that uses built-in antennas to receive radio signals from the Quadcopter controller. Receiver is connected to the flight controller which should be programmed to receive RC signals [10]. A flight controller is a circuit board that manages the drones flight and has DCU support for Quadcopter, Hexacopter and Octocopter agriculture spraying GPS. The flight controller consists of T-1A, GPS, PMU, DCU and LIU [11].The flight controller is basically the nervous system of the drone and receives raw information from the drone. It is transmitted via the receiver and then makes the corresponding movement to the drones rotors. Some flight controllers are configured and programmed by operator, but this requires a fairly in-depth level of knowledge [12]. Flight drone controllers are typically titled to include their main microprocessors model and STM electronics 32-bit microprocessors are more popular. The STM32 F1, F3, F4, and F7 are considered the most common models [13]. Radio transmitter is an electronic device that uses radio signals to transmit commands wirelessly via a set of radio frequency over to the radio receiver. It can also define as the device that translates pilots commands into movement of the multi-rotor. Radio transmitter transmits commands via channels an every switch or knob on the transmitter uses one channel to send the information through to the receiver [14]. A receiver and radio transmitter are compatible products; this means the same brand of Rx and TX need to be purchased in order to establish a communication [15]. The motors have an impact on the Quadcopter payload which it can support and the flight time. The Quadrotor motors in which the propellers are connected are made them to spin around to generate thrust. They are connected into three main sections which are why all brushless motors have 3 wires coming out of them [16]. Propellers are either designed to rotate clockwise or counter-clockwise and it is important to understand which part of the propeller is intended to upwards. Technically, the top of the propeller always face to the sky [17]. The opposing yaw motion cancels each other out in flight [18]. The pre-Loaded trajectory provides the real time coordinates to flight controller loaded program and as a result GPS coordinates the microcontroller navigates a Quadcopter [19].b)Precision AgriculturePrecision agriculture helps the way farmers manage their crops to yield product using drone technology for pesticide spraying, watering and fertilizer. In order to maximize the productivity, quality, and yield, it is recommended to minimize pests, unwanted flooding, and disease.According to the Food and Agriculture Organization of the United Nations (FAO) and the International Telecommunication Union (ITU), the world should increase the food production by 70% by 2050 due to population growth. This problem can be solved with PA done by the Unmanned Aerial Vehicles (UAVs) and Wireless Sensor Networks (WSNs) which can lead to valuable and at the same time economic Precision Agriculture (PA) applications. This includes aerial crop monitoring and smart spraying tasks [21]. Yamaha RMAX was the first drone for spraying crops with far more precision than a traditional tractor. There are many different quadrotor designs used in pesticide spraying applications [22]. Top XGun robotics has produced a professional flight controller T1-A is a combining main function of agricultural UAV in current market. It can be installed on a variety of models and has the functions such as intelligent mode, dose detection, resume spray function, precision spraying, and low voltage protection, fail safe and go home. Schematic diagram for the recommended sprayer is shown below [11].Quadcopters can range from small drones that fly on a single charge for 10 minutes to big Quadcopters that can fly much longer and cost much. Some of the drones are operated by controllers, while others by operators smartphone or tablet. Basic elements in drones are frame, propellers, BLDC motor, battery, electronic sensors, GPS, payload (camera or spraying system).