Download
micro cart dec8 03 micro processor c ontrolled a erial r obotics t eam n.
Skip this Video
Loading SlideShow in 5 Seconds..
Micro-CART Dec8-03 Micro processor – C ontrolled A erial R obotics T eam PowerPoint Presentation
Download Presentation
Micro-CART Dec8-03 Micro processor – C ontrolled A erial R obotics T eam

Micro-CART Dec8-03 Micro processor – C ontrolled A erial R obotics T eam

127 Views Download Presentation
Download Presentation

Micro-CART Dec8-03 Micro processor – C ontrolled A erial R obotics T eam

- - - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - - -
Presentation Transcript

  1. Micro-CARTDec8-03 Microprocessor – Controlled Aerial Robotics Team

  2. Team Members • Team Leaders • Jason Funk • Karl Svec • Client • Lockheed Martin • Advisor • Dr. Greg Smith • Team Members • Matt Beecher • Andrew Crawford • Mike Dent • PhongDeo • Anthony Nowell • Dave Zajicek • Yan Zhang • Pilot • Nicholas Crego

  3. Project History

  4. Project History • Beginnings • Students wanted to develop a UAV to enter into a competition • Accomplishments: • Build Chassis • Tried different configurations of avionics boxes • Built low level software to read sensors • Manually flew and took readings

  5. Project History • 3 years ago to 1 year ago • 2 students wrote nearly complete versions of avionics software, a ground station, and a simulator • Tested the avionics software in the simulator and it worked well • Installed avionics software on the system • Flight tests resulted in destroyed electronics • Determined to be caused by electronics not being electrically isolated from spark plug

  6. Project History • 3 years ago to 1 year ago • Replaced nearly all of the electronics on the system • AeroEs rebuilt the helicopter and engine • Rewrote Ground Station in Java • Worked towards completing flight control software

  7. System Overview

  8. Functional System Requirements • Autonomous flight • Visit 4 GPS waypoints • Over distance of 3km • Fly within 3 meters of waypoint • Avoid Fixed Obstacles • Fly over them at 50 ft • Hover at final waypoint • 2 way communication between Ground Station and Helicopter

  9. Non-Functional System Requirements • Weight less than 14lb • Response time less than 1s

  10. System Block Diagram

  11. Work Breakdown Structure • Ground Station • Mike Dent • Dave Zajicek • Manual Override • Andrew Crawford • PhongDeo • Yan Zhang • Sensors • Anthony Nowell • Flight Control Software • Jason Funk • Filtering • Karl Svec • Matt Beecher

  12. Overall Team Goal • Independent autonomous hover on Roll, Pitch, Yaw, Throttle, Collective Servo Channels • Complete, test, characterize, filter, and calibrate sensors (Sonar, GPS, Compass, Altimeter, IMU) • Complete manual override hardware • Fix trimming issues

  13. Development Cycle Design Implement Bug Fix Lab Test Ground Test Analyze Analyze Flight Test

  14. Design Implementation Testing

  15. Ground Station • Purpose • Display current status of helicopter • Provide interface for setting navigation • Provide interface for setting control constants • Provide data logging / graphing capability • Initial Status • Receiving and displayingdata from helicopter • Intermittent problems sending data to the helicopter • Tasks • Fix outstanding communicationissues • Add manual trimming

  16. Ground Station

  17. Ground Station • Communication • Manual trimming of servos • Packet sending • Packet receiving • Information handling • Data logging • Manual / computer control indication • New real-time graphing capabilities

  18. Ground Station 18 • Communication • Trim packets • Trim can be adjusted in real-time from the GS • Allows for tuning of servos before and during flight

  19. Ground Station 19 • Communication • Packet sending - redundancy option • Send up to five identical Trim or PID packets • Compensates for possible packet loss/corruption

  20. Ground Station 20 • Communication • Packet receiving - frequency option • Increase/decrease the rate at which helicopter sends state and dynamic PID packets • Allows for better resource management

  21. Ground Station 21 • Information handling • Manual / computer control indication • Differentiate computer or manual control in logged data • New real-time graphing capabilities • Uses program called LiveGraph • Allows for quick and easy analysis of flight data

  22. Ground Station • Final Status • New Communication, Graphing, & Trim features • Fully implemented and tested • Verified through ground and flight tests • Communication Testing Procedure • Initial communication loss: ~60% • Adjusted RF modem and serial port settings until best results received (~50% loss) • Implemented and tested state packet frequency functionality (now within satisfactory range ~5%)

  23. 2323 Flight Control Software • Purpose • Control helicopter movement • Initial Status • Sends calculated control data to servo controller based on the sensor data it receives. • Communication issues exist when receiving data from Ground Station • Tasks • Fix communication issues • Add dynamic trim control

  24. 2424 Flight Control Software • Task 1: Fix communication issues • Implemented dynamic communication frequencies • Task 2: Manual Trim Setting • Implemented dynamic trim setting

  25. 2525 Flight Control Software • Final Status • Communication to and from the ground station is far more reliable • Able to dynamically update trim • Able to dynamically update communications frequencies

  26. Sensors 26 • Purpose • Provides the flight control software information about the helicopter’s position and orientation • Initial Status • IMU • Working • Altimeter • Microcontroller code was about half-written • Flight control code not started • Untested breadboard prototype

  27. Sensors 27 • Initial Status • Compass • Code believed to be near complete • Not calibrated • Crashing flight control software • Sonar • Code believed to be near complete • Not calibrated • Not tested • GPS • No support for GPS module in flight control software

  28. Sensors - Altimeter 28 • What was done • Software design • Initial flight control code • Began testing hardware

  29. Sensors - Compass 29 • What was done • Resolved flight control instabilities • Calibrated in software (without engine noise)

  30. 30

  31. 31

  32. 32

  33. 33

  34. Sensors - Sonar 34 • What was done • Calibrated in hardware • Bug fixing

  35. 35

  36. 36

  37. GPS • Not able to fix onto satellites • Gets a fix when plugged into a laptop computer • Magnetic interference with compass

  38. Sensors 38 • Final Status • Altimeter • Breadboard prototype nearly verified • Software is about half-implemented • Compass • Works in-lab • Suffers from magnetic interference from engine • Sonar • Reliable from 6 inches to about 18 feet (as opposed to the 20 foot specification) • GPS • Not reliable when used with helicopter SBC

  39. Filtering • Purpose • Remove unwanted noise from sensor data • Initial Status • Some work had been done with RC, moving average, and Kalman filters • Performance was unsatisfactory, nothing actually implemented in code • Tasks • Select a practical filtering model • Design and implement filter code • Characterize sensor data • Calculate filter parameters

  40. Filtering • Selecting a filtering model • Initially considered Kalman filter • Delivers very good performance and is the filter of choice for UAVs • Developing a process model for a helicopter is very difficult • Eventually decided on digital Butterworth filter • Well understood • Easy to implement in software • Computationally less expensive than alternatives (e.g. FIR filter)

  41. Filtering – Software Design 41

  42. Filtering – Test Results 42

  43. Filtering – Data Characterization 43

  44. Filtering • Filter Coefficients can vary with system changes • Store in XML file, parse at initialization • XML parser modified to read array of values • Tested by creating sample XML file, reading array of values and checking output with file

  45. Filtering 46 • Final Status • ButterworthFilter class has been tested for correctness • IMU, Sonar, and Compass data have been characterized • Filters for the IMU, Sonar, and Compass are implemented in the flight control software

  46. Manual Override 47 • Purpose • Switch between manual and computer control • Initial Status • Hardware designed, built, and tested for single servo channel • Later Flight Test results in relay chatter • Tasks • Build circuits for remaining servo channels

  47. Initial Manual Override 48 • Design • Hardware used was RCATS relay for each servo channel • Tasks • Built for Pitch and Roll channels • Problems • Chatter causing undesired switch • Noise on PWM Control Signal

  48. Initial Manual Override 49

  49. Revised Manual Override 50 • Design • ElectroDynamics manual override switch • Multiple NASA successful missions • Status • Hardware installed and tested for Roll and Pitch servo channels • Tasks • Implement for all servo channels independently