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Project Overview

Helicopter Control Using the Vicon Motion Capture System Georgia Institute of technology Noah Allen kunal amarnani 22 October 2008. Project Overview. Aerospace department Vicon motion capture system Automated helicopter control Current position read by motion capture system

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Project Overview

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  1. Helicopter Control Using the Vicon Motion Capture SystemGeorgia Institute of technologyNoah Allenkunalamarnani22 October 2008

  2. Project Overview • Aerospace department • Vicon motion capture system • Automated helicopter control • Current position read by motion capture system • Eliminate human error • Total implementation cost • ~$25,000

  3. Technical Objectives • Read raw current location coordinates from motion capture system • Compare current location and predefined flight path • Calculate necessary flight maneuver • Output to helicopter remote control through parallel port

  4. Flight Lab

  5. ViconIQ Ethernet Current Setup Parallel

  6. ViconIQ Ethernet Proposed Setup GaTech Hub MATLAB Parallel

  7. Remote Control • Three basic controls • Thrust • Rudder • Trim

  8. Throttle/Rudder Switch • Digital switches turned on or off due to position of stick

  9. Stock Remote Setup • Controls wired to inputs on the board. Throttle Control Remote Control Circuit Board 5 Rudder Control 4

  10. Modified Setup • Disconnected controls from board • Wired parallel port to the board inputs • Wired controls to parallel port cable Throttle Control Remote Control Circuit Board 5 5 Parallel Port Cable Rudder Control 4 4 Parallel Port

  11. Modified Remote Control

  12. ViconIQ Ethernet Proposed Setup GaTech Hub MATLAB Parallel

  13. Ethernet Flight Control System • MATLAB implementation • Retrieves raw Vicon data • Analyzes data and converts it to remote control input Flight Control System 10010011011101000011111101010010 Function Parallel

  14. Ethernet Data Retrieval • Utilizes Java command language • Queries ViconIQ over TCP/IP • Reads buffer stream as single byte strings into array 67000000 01000000 02000000 02000000 Flight Control System Function Parallel

  15. Ethernet Data Decoding • Data comes in as two byte array • Array is segmented and converted to either a double or ASCII characters • Data is recorded into a cell structure Flight Control System 4D M A R K E R 61 72 6B 65 72 3C < X > 58 3E Data Analysis Function Function Parallel

  16. Ethernet Data Analysis • Implements proportional control flow • Examines error between current location and next location • Scales output amplitude based on gain and error System Output Gain Control Flight Control System Flight Path Data Analysis Function Function Parallel

  17. Ethernet Parallel Output • MATLAB capable of accessing parallel port directly • 8 bit output will control throttle and rudder speed • Administrative access is necessary Flight Control System 1001110 Data Analysis Function Parallel Output Function Function Parallel

  18. Parallel Port • D0-D7 are data lines (bi-directional) • C0-C3 are control lines (out) • S3-S7 are status lines(in) • Pins 18-25 are ground

  19. Switches and Pin Map

  20. Parallel Port Output • MATLAB capable of accessing parallel port directly. • Writing out 8 bits. • 8 bits will control which switch is turned on or off

  21. Demonstration Plan • Output current location of helicopter using MATLAB GUI • Control helicopter using MATLAB program • Fly a predetermined data path with minimum error

  22. Problems or Issues • Discovering which switches on the control board control what level of output. • Matching ViconIQ system real-time output protocol

  23. Remaining Tasks • Current position value decoding (Oct. 24th) • Current position MATLAB GUI (Oct. 24th) • Parallel port voltage map (Oct. 26th) • Proportional control system coding (Oct. 26th) • Control of helicopter from computer. (Oct. 29th) • Control system to maneuver helicopter (Nov. 12th)

  24. Budget • Total Equimpent Cost = $0. • Total Labor Cost = $10,000

  25. Current Status • Complete Remote Control Modification • Tested Parallel port output from MATLAB • Written MATLAB code for marker decoding • Analyzing data packets from emulator so that value decoding can be solved

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