Term Paper Report



Submitted to:

Amity University Uttar Pradesh

In partial fulfilment of the requirements for the award of the degree


Bachelor of Technology


Aerospace Engineering


Sidhartha Maurya


Under the guidance of

Ms. Uttkrishti Singh






I, Sidhartha Maurya, student of B.Tech (A.E.-3rd Semester) hereby declare that the project titled “Quadcopter” which is submitted by me to Department of Aerospace Engineering, Amity School of Engineering Technology, Amity University Uttar Pradesh, Lucknow, in partial fulfilment of requirement for the award of the degree of Bachelor of Technology in Aerospace Engineering, has not been previously formed the basis for the award of any degree, diploma or other similar title or recognition.

The Author attests that permission has been obtained for the use of any copyrighted material appearing in the Dissertation / Project report other than brief excerpts requiring only proper acknowledgement in scholarly writing and all such use is acknowledged.

Date: __________________

Sidhartha Maurya


B.Tech (A.E.)

3rd Semester




This is to certify that Sidhartha Maurya, student of B.Tech in Aerospace Engineering has carried out work presented in the project of the Term paper entitle “Quadcopter” as a part of First year program of Bachelor of Technology in aerospaceEngineering from Amity University, Uttar Pradesh, Lucknow under my supervision.


Ms. Uttkrishti Singh

Department Mechanical Engineering

ASET, Lucknow


I would like to thanks everyone who helped me to accomplish my report.

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I sincerely thank all my respected teachers, who have helped me with their valuable and appropriate suggestions and support me throughout the development of my report.

I am highly thankful to my project guide Ms. Uttkrishti Singh ma’am for providing her help and assistance at every stage of the report.


A Quadcopter has the potential for acting several tasks wherever humans cannot enter, for instance, extreme temperature and high altitude police investigation in several industries, rescue missions.

A Quadcopter has four propellers with motors that generate, the thrust for lifting the craftand associate degree craft upraised and propelled by four horizontal rotors; every rotor consists of 2 or 3 rotor blades.The essential principle behind the quadcopter is, the 2 motors can rotate within the clockwise direction the opposite two can rotate in associate anticlockwise direction permitting the craft to vertically ascend.

Quadcopters are classified as rotorcrafts or a rotary-wing craft to tell apart them from fixed-wing craft as a result of the quadcopter derives its supply of elevate from the rotor blades rotating around a mast. They belong to a bigger class of aircrafts outlined as multicopters.

left68326000290893580200500Multicopters have numerous names supported the quantity of propellers mounted on the craft. A four-propeller multicopter is named a quad-copter, a six mechanical device multicopter is named a hexa-copter, and today we tend to even have octo-copters.

Over the previous few years, remote mobile vehicles are unbelievably in style for hobbyists, tutorial analysis teams, and for people UN agency ar designing for a start-up. The names of those vehicles vary from quadcopters to quadrotors or maybe drones. However, they consult with identical vehicle and also the most acceptable language for these crafts is quadrotors.

Because of their simplicity of development and control, quadcopter air ship are oftentimes utilized as beginner model flying machine ventures.



1920 – Oemichen No. 2

Had four rotors and eight propellers all driven by one motor

Over a thousand fortunate flights

First recorded FAI distance record of 360m in 1924 for a whirlybird

Very Stable for the Time

Designed by Etienne Oemichen

US Air force Project


1956 – Convertawings Model A Quadcopter

Designed by Dr. Saint George Delaware Bothezat and Ivan theologian

One of the primary quadcopters to use varied thrust of the four propellers so as to manage roll, pitch, and yaw.

Was terribly laborious for the pilot to fly as a result of the employment of attempting to manage the thrust of all four props quickly.


1958 – Curtis Wright VZ-7

Designed by Curtis Wright company

US Army Project

Used variable thrust within the four propellers to manage flight.


Current Developments

In the past ten years several tiny quadcopters have entered the market that embrace the DJI Phantom and Parrot AR Drone. This new breed of quadcopters area unit low-cost, light-weight, and use advanced physics to for control.



Quadcopter is that the preferred multirotor configuration, with the simplest mechanical structure. It’s wide used for drone sport within the sort of “mini quad”.

There are many different styles of frame, all related to the stance of the arms and the size and shape of the electronics carriage. Below, every frame sort is explained beside a graphical example.

True X

A quadcopter has four motors mounted on a cruciate frame, every arm is usually ninety degree apart for the X4 config. Two motors rotate CW (clockwise), and also the alternative 2 rotate CCW (counter clockwise) to make opposite force to remain balance.

354711093345000478790100076000The true X is shaped as it sounds, an X geometry to which a motor is mounted to each end of the arms. The perpendicular distance between the center of each motor is equal, therefore giving the quadcopter the same level of stability on all axis.

Wide X

left1012190003442335114554000A wide X has its arms splayed outward to the side. The wide X geometry is more common in freestyle frames, this is because more central space is often required to mount an action camera and battery on top of the frame.

Stretch X

center73406000The stretch X is a rotated wide X. The stretch X is usually favored by racers UN agency are seeking a lot of stability on the pitch axis, which can improve control when the quadcopter is racing at high speed.


center93472000There are 2 main configurations: X or +. X config is a lot of standard as you’ll keep the propellers out of the camera’s read (for FPV and aerial filming). Some people fly the plus (+) config because it’s more intuitive, and flies like an airplane.

4146553251835003385185313690000 It’s easier to figure out the orientation A and frame have an equivalent footprint as a X frame that has been turned 45°. A plus frame can be seen as advantageous in that each motor is responsible for rotational movement in only one axis, theoretically meaning finer control is possible. Although, plus frames are more prone to breakage due to most impacts involving a forceful strike to the front arm only.

There is conjointly the H configuration, which allows a camera to b e placed on the frame well forward to avoid having propellers in the view of the camera. There are always debates about whether X or H are better, especially in the mini quad community


33375609810750040386091440000The H vogue is another archaic type of quadcopter style. In a H quad, the arms are positioned at the front of a long “bus” style carriage. Recently, the H quad has lost favor due to its bulky size and awkward configuration.


center73469500The HX is a newer variant of the H. Instead of placing the arms at the tip and tail of the carriage, a true X, wide X or stretch X configuration is applied, most often wide or true X.


center118808500A Z quad uses two similar base plates mounted on top of each other to produce a stepped geometry between the front and rear motors. Mounting the motors on different planes improves the prop wash handling of the quadcopter, as less turbulent air is directed towards the rear motors during forward flight.

Y4 – 4 motors

It looks sort of a trichopteran however while not the tail servo. There are a unit 2 traditional propellers and motors before on separate arms and 2 concentric motors within the rear mounted to 1 arm. Mechanically it’s simpler than troopers because of the absence of the and yaw mechanism.

center73977500While they weigh virtually identical they need regarding 1/3 a lot of lifting power than troopers. They are usually more reliable than Troopers because there are no potential servo issues.

VTail and ATail – 4 motors

center115570000The V-Tail and A-Tail area unit primarily quadcopter config with the front motors on traditional quadcopter arms, while the rear motors located in close proximity, tilted at a vertical angle either inward or outward. It’s a combination between a quadcopter and a trichopteran and extremely almost like Y4 config.

This is not a popular configuration because it gives lower power efficiency (air flow interference at the tail motors). However, VTail/ATail certainly looks awesome and provides a better orientation visibility.


A quadcopter consists of 4 motors. every motor produce thrust and torsion. The quadcopter will hover and keep steady over the bottom once all four motors have constant torsion and also the total thrust of the craft is up to or larger than m*g, wherever m is that the mass of the craft and g is that the gravity constant. Motors one and 4 spin dextral, as shown within the following figure:


Motors 2 and 3, on the opposite hand, spin counter dextral. Since each motor produces torsion, motor one cancels out the torsion created from motor four and motor 2 cancels out the torsion created from motor 3.

Let’s have a glance at the quadcopter’s maneuvers. presumptuous that CM is that the center of the craft mass; so as to implement a forward movement, all that’s required is to lower the angular speed of motor 1 and 2. As a result, there’ll be less thrust created within the front than the rear leading to the quadcopter moving forward.

Similarly, we are able to lower the angular speed of motors 1 and 3 or 3 and 4 and have either left or right movement.

Lastly, there’s an added maneuver that a quadcopter will do. so as to own yaw rotation, we’d like to lower the speed of any of the 2 opposite motors.

Actually, doing this may increase or decrease the full left or right torsion.

This creates associate degree imbalance within the torsion between the motors; therefore, inflicting the quadcopter to own yaw rotation.


2292713-49085500Forward Motion:


Backward Motion:


Right Motion:


Left Motion:


Creating a Frame

Even the foremost sure-handed pilot can realize it onerous to fly a quadcopter designed over a badly designed frame. The frame is that the base of the quadcopter and one in every of the foremost vital elements. it’s one thing that can’t be modified simply. Everything is mounted on the frame; therefore, removing and ever-changing any element are terribly time intense. it’ll need removing and remounting of all the elements. There are numerous shapes and materials with that we will build a frame and each single one in every of them has its own blessings and downside.

On the opposite hand, a frame that’s designed quickly with very little attention to detail will cause stability issues, drag, and should cause crashes. Since safety is that the favored priority, you ought to use caution once building your own frame.

Furthermore, there are several straightforward and really smart frames accessible on websites like or perhaps the price depends on the fabric and also the variety of motors that you just wish to mount. shopping for a frame from websites just like the ones mentioned is a wonderful choice; if you do not wish to blast by coming up with and making your own frame mistreatment any quite material.


We can produce our own frame in small stages. you ought to confine mind that a picket frame can work simply fine and your quadcopter can fly; but, it’s not the simplest issue you’ll be able to do.

Since the primary call we want to require is what material we tend to are attending to use, let’s have a glance in the least the potential materials.


Depending on the budget, numerous materials is accustomed build your own frame or you should purchase a market one. A frame doesn’t ought to be only 1 material. For example, you’ll notice that a lot of frames incorporates a mix of different materials.


Wooden frames area unit easy, straightforward to make, and a lot of significantly, you’ll be able to create any modification you’ll consider, later on. As way because the frame cares, the price of damage once a crash is incredibly low. These area unit most the benefits of a picket frame. you’ll be able to either purchase some wood and cut it by yourself or offer directions to your native search concerning the scale. Lastly, once making a picket frame, make sure to cut it with a laser; this fashion you’ll be able to style it exactly in keeping with your dimensions and hopefully have a stable quadcopter.


Aluminum is that the second and commonest material used for quadcopters. It is quite easy light-weight and appropriate for hobbyists WHO obtain fun. Aluminum is lighter than wood and is far a lot of stable. If all the screws and physics area unit mounted on the frame with caution, the general build are nothing but a stable, lightweight, and reliable quadcopter. presumptuous that we tend to area unit examination the materials, a downside of exploitation aluminum frame may be the burden. Although it’s an excellent material, there’s perpetually one thing higher and costlier, for example, carbon fiber.

Carbon fiber

Carbon fiber is out and away from the most effective material for crafts. it’s light-weight however not such a lot that it will increase the vibrations. It’s hard, therefore it always prevents your quadcopter from getting broken once a crash; it’s difficult too. presumptuous that you just ought to build a DIY frame together with your own style, this material isn’t very easy to chop. It is also costly in reference to the opposite materials.


The last selection is plastic. Plastic is employed as a fabric for frames returning from a manufacturer however most significantly, plastic is employed in 3D printers to style and finally print your own distinctive frame. 3D printer’s area unit an incredible breakthrough, they are tiny and economical objects owing to their low price, build, and simple style. Many software, like liquidizer, Rhinoceros, and SketchUp is accustomed to export your own design as a file.

After that, the file is foreign to the printer’s system and eventually you’ll be able to read your style. However, as each material has its own drawbacks, 3D printing is kind of hard for beginners. the most reason is as a result of it needs some basic data when making a style and once fitting the parameters, like the density of the frame or the scale. the small print matter here and making a frame while not caution might cause a crash.

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NTCC_Report. (2019, Nov 16). Retrieved from http://paperap.com/ntcc-report-906-best-essay/

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