Mechatronics

The objective of our project is to develop a quadcopter that is able to hover & perform basic maneuvers and do video surveillance. This project emphasizes on mathematical model and a control scheme for a quadcopter, and fabrication of a mechanical model to implement control techniques and algorithms on it allowing us to perform basic maneuvers. Dynamic modeling has been done using Euler Lagrange Approach. Classical control technique of Proportional and Derivative (PD) control has been used. The simulation result of modeling has been done using Matlab�/Simulink�. Using empirical and iterative process, fine-tuning has been done and implemented practically on our quadcopter to achieve hover state & perform basic maneuvers. A graphical user interface has been developed to control the throttle, update the current status and measure angle values of the quadcopter. Video Surveillance has done by using a wireless camera and fed into Graphical User Interface (GUI). A machine vision application has been implemented in which quadcopter replicates the orientation of an object & align itself with the object. Using Blob analysis, orientation has been found which is then fed as desired angle into quadcopter to control.

BEMTS