QuadRotor UAV

Welcome to my custom built QuadRotor UAV web page. Inspiration for this machine came from the original full sized manned craft which were developed back in the 1920s. The US military also developed various unmanned versions in the 1950s. The PA-4 "Sea Bat" (see pic below) is one example.
The beauty of these flying machines is the fact that mechanically they are of very simple design. There are no expensive swash plate mechanisms and not a single aileron, elevator or rudder in site. As a result, there is also no need for servos. What is gained in simple mechanics though, must be compensated for in electronics hardware and microcontroller firmware. There are numerous electronic hardware design methods possible for flight control, but the minimal hardware requirement is a set of three piezo gyroscopes, at least one microcontroller, four geared brushed or direct drive brushless motors and a pair each of cw/ccw rotors. Three simultaneous PID algorithms are implemented in microcontroller firmware for pitch, roll and yaw control. PID update frequency is 1Khz, although the video clip below was taken with the old 50Hz update frequency.



VERSION #3 Machine

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VERSION #2 Machine

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Custom built control PCB       Block diagram                                 Custom built carbon fibre body

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VERSION #1 Machine

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Custom built control PCB         Double sided PCB                   #1 Machine                         Block diagram

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              In flight #1                               In flight #2


Video Download:

Flight1Nov2006.wmv    4.14 Mb      Version #2 Machine



Convertawings Model "A" Quadrotor 1956      

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           by permission

    Peter Bergen / Aerofiles


 PA-4 "Sea Bat" - Unmanned - US Navy 1958

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Links To Other Quadrotor Builders' Web Sites

NAME
COUNTRY

URL
Bizart
Bizart
Bulgaria
Bulgaria
Homepage
Microdrones Ltd
http://quadrotor.atspace.org/
http://www.microdrones-bulgaria.com/
Crac France Homepage http://www.skymixer.com
Danvel Spain Homepage http://www.angelfire.com/electronic2/danvel/
Dr.David Metreveli USA
DM AeroPlatforms
Dr.David Metreveli USA
DM AeroPlatforms
JoseJ
JoseJ
Spain
Spain
MicroHeli4 Forum
RotHeli1 Forum
http://www.rcgroups.com/forums/showthread.php?t=297067
http://www.rcgroups.com/forums/showthread.php?t=394375
Kwaiweng Malaysia Homepage http://www.angelfire.com/electronic2/waiweng/
Spaceclam USA
Homepage Website Down
Tve
USA
Homepage
Website Down
Zarx Canada Homepage http://www.angelfire.com/alt2/j-c-paul/Draganfly/

E-MAIL


Jim Kearns
Christchurch, New Zealand
2005