Fault Tolerant Design of a Quadcopter through Run Time Transformation
M. Jayanthi · International Journal for Research in Applied Science and Engineering Technology · 2017
The Project deals with the development of a fault tolerant design to make the quadcopter not susceptible to failure due to the loss of a single propeller.The fundamental problem arises due to the dislocation of the centre of gravity when the four balancing forces that makes the system stable gets reduced to three.This creates instability in the system that makes the quadcopter to spin abnormally.To overcome this problem, an inertial measurement unit is interfaced with a microcontroller which completes the closed loop.The Cascade control system designed stabilizes the roll and the pitch rotations of the system.The available six pulse width modulation pins are used to power four motors whose speeds are controlled by four electronic speed controllers.Suitable propellers are used to generate the necessary thus is made available for the system to become air borne.A couple of servo motors are placed at the mid-point of two aluminum rods.On account of failure of a single propeller, the system becomes unstable and the servo motor attached to the support rotates the failed motor to the centre of Gravity with another motor extending out.Further, the motors are energized only at 70% of its capacity to increase the durability and longevity.The servo library in the arduino integrated development environment is utilized in developing PID controllers.