SPHEROID VTOL

UAV
 PROJECT SUPERVISOR PROJECT MEMBERS
ENGR. Adnan Waqar Rizwan Ellahi (Head) D-12-ES-29
Munawer Ali D-12-ES-01
Muhammad Raza D-12-ES-21
Muhammad Taha D-12-ES-25
Syed M.Arif Hashmi D-12-ES-03
INTRODUCTION
This project aims to design, build, and test fly a Spherical vertical take-
off and landing Unmanned Aerial Vehicle. It is split into five components;

1. Propulsion
2. Electronics
3. Control System
4. Aerodynamics
5. Structures
1. PROPULSION
The propulsion system was selected though a series of literature
research to determine the appropriate type, size and style of motor. A
brushless, forward facing, out runner motor was selected for this project
(EMAX GT2218/09). It was first scrutinized analytically, followed by
experimental tests to verify that its trust, electrical current draw and output
wind velocity were ideal for the project.
2. ELECTRONICS
The electrical components were selected based on the lightest
weight available, while still being able to provide sufficient performance
such as electrical load or torque, depending on their role. No parts were
available as plug and play modules and had to be customized
specifically to the projects needs. This included soldering, selecting
appropriate wire ratings, appropriate connectors as well as ensuring the
system is not overloaded. The components include the ESC, servos, BEC,
battery, receiver and remote control system.
3. CONTROL SYSTEM
The flight control system of the project deals with the auto-stabilization and
control of the UAV. ARDUINO UNO has been used for flight control board
as it provides more customizability to allow a combination of servos to
move, to control the UAV in flight.
4. AERODYNAMICS
This newly shaped UAV allows the propellers to be encased within
spherical-shaped struts, which enables the UAV to fly into obstacles without
damaging the propeller. This also makes it safe for the pilot, as well as,
anyone in the vicinity. Running only on a single propeller-motor
configuration, the UAV is able to hover, climb vertically, and transit into
translation flight, which is similar to that of a helicopter.
5. STRUCTURES
The structural component of the UAV was mainly the study of the
structural integrity of the body of the UAV to ensure that it is able to
withstand impact loads.
PROJECT OBJECTIVES
The objective of the project is to design, build, and test fly the Spherical VTOL
UAV which has the following design philosophies:
(i). Minimal weight for better efficiency, yet not compromising on structural
integrity.
(ii). Rigid Spherical body, creating a protective cage around the flight control
system.
(iii). Design of the UAV must allow user to easily access the electronics.
(iv). Capable of Vertical Lift-off and Landing and is able to transit to translational
and vertical movement.
(v). To be run on a single motor and propeller combination.
(vi). Integrated with an automated stabilization system, to assist the pilot in flight
control.
(vii). Able to fly within confined spaces.
(viii). The material used must be lightweight to reduce the all-up weight of the
UAV, so as to increase flight endurance and allow for possible payload.
ELECTRICAL AND ELECTRONICS COMPONENTS
The electronics system consists of the motor, the electronic speed
controller, the battery eliminator circuit, remote control system, battery, the
flight control board, the servos.
MOTOR
ELECTRONIC SPEED
CONTROL
BATTERY ELIMINATOR
CIRCUIT
TRANSMITTER AND
RECEIVER
BATTERY
FLIGHT CONTROL
BOARD
SERVOS
SPHEROID VTOL UAV DESIGN
FLIGHT CONTROL THEORY

THROTTLE
PITCH CONTROL
ROLL CONTROL
CONCLUSION
RECOMMENDATION FOR FURTHER WORK