Design And Implementation Of Micro Deformable Quadrotor

Multi-rotor has many features, like simple structure, flexible mobility, good stability. It can achieve vertical take-off and landing, hover. Because of these characteristics, the multi-rotor aircraft used more widely. Its structural features make it can be micro, which can fly indoors, roadway and other environments. At the same time in recent years, the wearable device began to rise and already well improved human life and sensory experiences in early stages. Now the wearable device exsits single function, lack of creativity, product homogeneity and other issues.This paper applies wearable thought on the design of four-rotor aircraft. through the study of the flexible rack aircraft model, deformation mechanism, flight control software and hardware platform and flight mode, this paper designed micro deformable four-rotor aircraft, which can wear on the wrist by transformation.In order to make four-rotor aircraft wearable, by analyzing the structure of four-rotor, this paper proposes using flexible material rack and deformation mechanism to change four-rotor to wristband. For the flexible material rack is different with the traditional rigid structure, so this paper conducted the corresponding four-rotor dynamics model, which considered external disturbance and gyro torque. By measuring the lift of different coreless motors and paddles under the specific operating voltage, this paper determined the technical parameter of the design.Based on the open-source flight control—Ardu Pilot Mega(APM), combined with the need of micro deformable four-rotor aircraft, this paper completed the flight control hardware design. Based on the APM flight control software structure, designed several flight mode, including boomerang mode, following mode and circular flight mode.Finally, this paper designed the micro deformable four-rotor aircraft prototype, and in the real flight experiments, it can keep the rotor attitude stable in flight by adjust the PID parameters.