Post on 22-Dec-2015
transcript
EDGE™
MAV Control System - P09122
Final Project Review
Erik Bellandi – Project ManagerBen Wager – Lead Engineer
Garrett Argenna – Mechanical EngineeringMichael Pepen – Electrical Engineering
Tahar Allag – Electrical EngineeringRamon Campusano – Computer Engineering
Stephen Nichols – Computer Engineering
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Contents
• Background
• Objectives & Deliverables
• MSD I Achievements
• MSD II Achievements
• Recommendations
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Background
• Past – Focused on small scale
surveillance.
• Future– MAV rules have changed so
now focus is on autonomy with small size being secondary.
– Fly autonomously indoors and outdoors
– Goal is to compete in the EMAV competition
MIT Autonomous UAV Aerobatics Project
MAV 2006 Model
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Project Objectives & Deliverables
Product Description / Project OverviewTo design and build a flight control system for the Micro Aerial Vehicle, that will most quickly lead to a fully autonomous system.
Key Business Goals / Project Deliverables Primary Goals:– Make the MAV as autonomous as possible.
• Achieve desired flight qualities.–Stabilize if unstable or increase damping
• Adaptable• Fully Tested and Integrate with Platform
Secondary Business Goal:– Able to compete in the EMAV Competition.
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MSD I Accomplishments
Detailed Design
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Control System Concept
Stability Augmentation System
Autopilot System
• Stability Augmentation System:– If an airplane is marginally stable or unstable, the SAS can provide proper
vehicle stability– Ensure the plane has the appropriate handling qualities; additional damping
can be incorporated using a pitch, roll and yaw damper.
• Autopilots: Reduce Pilot Workload– Attitude Hold – Maintain desired roll, pitch and heading– Altitude Hold – Maintain desired altitude– Velocity Hold – Maintain desired velocity
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Overall System Architecture
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Detailed System Diagram
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PCB Physical Layout Design
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Test Stand Design
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MSD II Accomplishments
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0 5 103.61
3.615
3.62
3.625
3.63
3.635Elevator Step w/ SAS
Time (sec)
Alp
ha (
deg)
0 5 10-0.1
-0.05
0
0.05
0.1
Time (sec)
Q (
deg/
sec)
0 5 103.6
3.65
3.7
3.75
Time (sec)
The
ta (
deg)
0 5 10-2
0
2
4
6
Time (sec)
z (f
t)
Platform Simulation & Control System
Open-loop Simulations
Stability Augmentation System
Preliminary Autopilot Simulations
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Electronics Board
PCB Design
Final Electronics
Actual Picture
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Sensors
GPS and IMU Test Drive Data
Temperature and Pressure Data
Video
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Test Stand
Actual Picture-what we have of test stand,
electronics and “safety box”
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Special Features
• Wireless Communication– Real-time short-range data transmission of flight data
• Flight Data Post-Processing– GPS and IMU Data overlay on Google Earth– Convert all flight data to plain text (Matlab compatible)
• SD Card Functionality– Record all raw and calculated flight data– Easily load and initialize control system configuration on-the-fly
• Initialization Status LED’s– Display status and error codes for Control System, GPS and IMU
• Test Stand– Feedback Control (Matlab Serial communication)– Wireless communication (Test Stand Data)
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Target SpecificationsList of Metrics
# Metric Importance Units Accomplished? Comments
1 Recover from 5mph gust 4 Mph, m/s N Simulated but not tested
2 Fly straight and level within a meter over a distance of 50 m
5 m, ft N Simulated but not tested
3 Have at least 6 changeable parameters
8 # Y 4 SAS gains, >6 Autopilot Gains for future teams
4 Weight less then 0.5 kg. 7 kg, lb Y Weight = 0.2561 kg
5 Fit within MAV platform 2.25”x2.25”x8”
6 in, cm Y Final size: 2.1” x 1.1” x 5.25”
6 All testing matrices completed 1 # N Delays in test stand manufacturing
7 Receive and process remote signal
2 Y/N Y 6 channel receiver including override for S.A.S.
8 Transmit data to ground unit 9 List Y Storing data to SD card
9 Process and use data from all sensors
3 Y/N – List Y 5 sensors with 9 measured parameters
10 Determine it’s position within 1 meter
10 m, ft N GPS within 2.5 m, IMU calculations need verification
11 Fly a designated pattern within 2 meters
11 m, ft N Attitude and position holds needed for future projects
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Weight
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Cost Breakdown
Sensors $857.96
Controller $261.24
Video $55.77
Kit Planes $269.89
Test Stand $802.78
Total Cost: $2,247.64
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Recommendations
• PCB could be refined for size and weight
• Test onboard sensor calculation using test stand
• DATCOM may be more useful with further research
• Research Robust and Non-Linear Controls
• Higher Quality Video
• Better GPS units available
• Look into additional telemetry (2-way comm.)
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Questions?