Specification, assembly and configuration of autonomous multi-rotors

The aim of this work is a complete description of the multi-rotor implementation; this description covers from selection criteria of the pieces, through their assembly to the tuning of PID controllers. The results shown in this article are derived from the experience gained from the assembly of two multi-rotors, a study on PDI controller design for a quadrotor and three scientific initiation projects dedicated to learning to tune quadrotor PID controllers. The article shows with specific examples how to perform the selection of the principal components of a multi-rotor with conditions different budget also shows the numerical results for the tuning of a quadrotor stability PID controllers. This paper presents suggestions of certain components used to assemble multi-rotors, justifying its choice moreover describes a procedure to perform the selection of motor, propeller, ESC and battery. Also covers a description of the physical installation and calibration procedures of these aircraft. In addition, it presents the structures built to make the tuning of stability PID controllers and describes in detail the process carried out to tune them. This research serves as the basis to accelerate the multi-rotors implementation process to be used to perform a specific application or being test platforms for the developments of stability controllers.