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IMDL: Quad Rotor

Jose Morales. IMDL: Quad Rotor. Introduction. Four Propeller Flying Platform Goal: Stable Hover. Theory of Operation. Upward Motion Front Tilt and Forward Motion Right Tilt and Rightward Motion Counter-Clockwise Yaw. Hardware – Software Interaction. Mechanical Design.

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IMDL: Quad Rotor

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  1. Jose Morales IMDL: Quad Rotor

  2. Introduction • Four Propeller Flying Platform • Goal: Stable Hover

  3. Theory of Operation • Upward Motion • Front Tilt and Forward Motion • Right Tilt and Rightward Motion • Counter-Clockwise Yaw

  4. Hardware – Software Interaction

  5. Mechanical Design

  6. Preliminary Design

  7. Power System

  8. Motor With Propeller

  9. Aluminum Motor Mounts

  10. Sensors

  11. Sonar • Determines Distances • Used to Determine Distance from Floor.

  12. Sonar Interface

  13. Receiving Data From Sonar

  14. FPGA integration to sensors

  15. Accelerometer & Gyro • Inertial Measurement Unit (top) • 3 Axes Accelerometer • 2 Axes Gyroscope • Gyroscope (bottom) • 1 Axis Gyroscope • Missing Axis from IMU

  16. Current Sensors • Hall Effect • Strength of Magnetic Field from Current • Measure current from each motor • Current to Thrust Mapping

  17. Accelerometer & Gyro

  18. Electronics

  19. Microprocessor • System Controller • PID calculation • Communication to FPGA

  20. FPGA • Sensor Data Acquisition • Digital Filtering • Communication to uP

  21. Analog Filter PCB Design

  22. Analog Filters Filters the Analog Accelerometer And Gyroscope data.

  23. Power Supply Board Design

  24. Power Supply

  25. Software

  26. PID Control UpdatePID(SPid * pid, double error, double position) { double pTerm, dTerm, iTerm; pTerm = pid->pGain * error; pid->iState += error; if (pid->iState > pid->iMax) pid->iState = pid->iMax; else if (pid->iState< pid->iMin) pid->iState = pid->iMin; iTerm= pid->iGain * iState; dTerm= pid->dGain * (position - pid->dState); pid->dState = position; return pTerm + iTerm - dTerm; }

  27. Control • Accelerometer data used for Hover • Gyro Data used for movement • Integrating Gyro Data • Accelerometer Corrected Gyro • PID maintains height

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