Technical university of mombasa faculty of engineering and technology department of electrical and electronic engineering

APPENDIX I 
MATLAB PROGRAM OF QUADCOPTER RESULTANT BLADE VELOCITY. 
%clear
Vmph=28
rpm=1000
omega=rpm*2*3.14/60;
Vkt=Vmph/1.15077;
Radius=4/12;
V=Vkt/0.5925;
psi1=0:0.01:2*pi;
rx=Radius*cos(psi1);
ry=Radius*sin(psi1);
m=-Radius*.45;
y=0;
psi=0;
n=-25:1:25;
for i=1:1:100
y=y+Radius/100;
for j=1:1:100
psi=psi+2*pi/100;
U(i,j)=omega*y+V*sin(psi);
crx(i,j)=y*cos(psi);
cry(i,j)=y*sin(psi);
end
end
v=[-100 -50 0 50 100 200 300 400 500 600 700 800 900 1000 1100];
[C,h]=contour(crx,cry,U,v);
colormap cool
clabel(C,h)
hold
plot(rx,ry,'r')
plot(n,m)
axis square
xlabel('rotor radius (ft)')
ylabel('rotor radius (ft)')
title(['Quadcopter Resultant Blade Velocity in Forward Flight',' Velocity 
=',num2str(Vkt),'kts',' \Omega =' ,num2str(omega), 'rad/sec'])

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53 
APPENDIX II 
MATLAB SIMULATION OF QUADCOPTER RESULTANT BLADE VELOCITY. 

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54 
APPENDIX III 
tdata = csvread(
'asthl20log.csv'
,1,0); 
ts = timeseries([convang(tdata(:,[3 2]),
'deg'
,
'rad'
) 
...
tdata(:,4) convang(tdata(:,5:7),
'deg'
,
'rad'
)],tdata(:,1)); 
h = Aero.FlightGearAnimation; 
h.TimeseriesSourceType = 
'Timeseries'
; 
h.TimeseriesSource = ts; 
h.FlightGearBaseDirectory = 
'C:\Program Files\FlightGear191'
; 
h.FlightGearVersion = 
'1.9.1'
; 
h.GeometryModelName = 
'HL20'
; 
h.DestinationIpAddress = 
'127.0.0.1'
; 
h.DestinationPort = 
'5502'
; 
h.AirportId = 
'KSFO'
; 
h.RunwayId = 
'10L'
; 
h.InitialAltitude = 7224; 
h.InitialHeading = 113; 
h.OffsetDistance = 4.72; 
h.OffsetAzimuth = 0; 
h.TimeScaling = 5; 
get(h) 
image(imread([matlabroot 
filesep 
fullfile(
'toolbox'
,
'aero'
,
'astdemos'
,
'figures'
,
'astfganim01.png'
)],
'png'
)); 
axis 
off
; 
set(gca,
'Position'
,[ 0 0 1 1 ]); 

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55 
APPENDIX IV 
FLIGHT TRAJECTORY
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

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56 
APPENDIX VI 
CIRCUIT DIAGRAM