phuc te - 2nd year project

8/3/2019 Phuc Te - 2nd Year Project

1/23

2011-2012 EG2002 - Engineering Design

Second YearSecond Year ProjectProject

Phuc Phung Te


2/23

Design TaskDesign Task

To conceive, design, implement and operate

a prototype unmanned aerial vehicle (UAV) capable of

semi-autonomous controlled hover and translation with

four degrees of freedom (4DOF).


3/23

UnmannedUnmanned Aerial VehicleAerial Vehicle


4/23

CDIOCDIO Engineering Design ProcessEngineering Design ProcessConceive Design Implement Operate

Establish

context ofexercise

Identifycomplexity

GenerateConcepts

SpecifydesignWith

justifications

ProduceDocumentation

Produce

Components

Test

Componentsindividually

Testcompleted

design

Evaluate andImprove design!


5/23

Conditions & Environment ?Conditions & Environment ?

UAV design has to be mounted onto the end of a

counterbalancing and articulated arm.

The arm design will allow the UAV to rotate in ROLL

and PITCH and translate in the HEIGHT and SWEEP

axis (i.e. 4DOF).

The UAV will be restrained from rotation in YAW andmovement in the remaining translational axis.


6/23


7/23

N

ote:2 Potentiometers

are located at the

arm.

This will be the

means of which

position of the UAV

can be measured at

any point in time

via 2 analoguevoltage outputs .


8/23

DesignDesign LimitationsLimitations The UAV design must fit within an envelope of L270 x

W270 x H150mm.

Electrical and electronic components can be mounted

off-board onto a beach top.

UAVs must mount onto the arm through a standardised

bracket.

Cost!


9/23

InitialConceptsInitialConcepts


10/23

MyMy InitialInitial Concept:Concept: The 5 motor UAV concept made from Aluminium

sheets and other extruded parts allowing the UAV

to be easily manufactured out from standard parts.

One centre rotor providing most of the upwardthrust allowing the UAV to have independent

control of the vertical thrust (simple control

algorithms)

UVA will have a total size of 270mm x 270mm which

is the maximum size the UAV can be.

The outer fans are allocated by the outer most

edges and will provide stability in hovering and will

also control the tilt and movement along the

armatures sweep.


11/23

JoesJoes Concept:Concept:

Small, tandem rotor design

Trapezoid case

Vertical motion is controlled by both

rotors operating in tandem

Horizontal motion is achieved by

one rotor providing more thrust

than the other, forcing the UAV to

tilt and therefore move in the other

direction.


12/23

Rating and Weighting TableRating and Weighting TableFeatures Weighting Rating Weight*Rating

1 2 3 4 5 6 7 1 2 3 4 5 6 7

Controlled Hovering 10 7 6 5 7 8 8 8 70 60 50 70 80 80 80

Controlled Flight 10 8 8 6 5 6 7 6 80 80 60 50 60 70 60

Ultra-light Chassis 8 5 4 9 7 5 5 3 40 32 72 56 40 40 24

Motor/DriverController 7 6 6 6 6 6 6 6 42 42 42 42 42 42 42

Orientation Sensor 8 7 8 7 7 7 7 7 56 64 56 56 56 56 56

Control Algorithms 10 6 6 5 3 5 7 5 60 60 50 30 50 70 50

Aesthetics 1 4 4 7 8 4 6 5 4 4 7 8 4 6 5

Size (Must fit inside theenvelope.)

7 4 5 3 5 4 5 4 28 35 21 35 28 35 28

Attachment 8 7 7 5 6 6 5 8 56 56 40 48 48 40 64

Power Budget 7 8 8 5 3 8 5 4 56 56 35 21 56 35 28Manufacturing 6 6 7 5 8 9 6 6 36 42 30 48 54 36 36

Durability/Reliability 7 8 7 5 7 8 8 9 56 49 35 49 56 56 63

Safety 10 5 5 7 7 7 7 10 50 50 70 70 70 70 100

Cost Budget 6 7 4 5 8 5 4 2 42 24 30 48 30 24 12

Total 661

639

593

646

669

635

643

Key

1 Choi, Yong Seog

2 Al-Ajmi, Saif

3 Jones, Joshua

4 Cherryman, Joseph Robert

5 McCormick, Scott6 Te, Phuc

7 Yu, Ruoyang


13/23

SubSub--Tasks for Team ProjectTasks for Team Project Ultra-light UAV chassis: including motor mounts,

sensor mounts, cable runs, coupling onto the

armature, and very importantly propeller guards. Motor driver/controllers

Orientation sensor system and suitable interface to

the control hardware provided.

Algorithms for ensuring controlled flight


14/23

Allocation of TasksAllocation of Tasks2ndYear Undergraduate TaskTe, P Lead LabView Programming (Control System) & Electrical Application

Yu, R - Work all Electrical calculations required for the project-Research motors

-In charge of selection and design of electrical components

-Assist Phuc withLabView

-Assist Joseph with electrical calculations

Cherryman, J -Research appropriate sensors-Assist Phuc with LabView-Assist Ruoyang with selection and assemble of electrical components.

McCormick, S -Design Main Propulsion system with calculations-Design/find guards for propellers

Choi, Y -Assist with Main Propulsion system including calculation-Consider suitable Material selection for Propellers and chassis

-Consider weight budget of UAV and calculate optimum weight for peak performance.

Al-Ajmi, S -Design Chassis Layout-Construct how electrical and mechanical aspects will all interlock and fit together

-In charge of all Solidworks and CAD drawings-Keep track of cost budget

Jones, J -Design Chassis-Construct how electrical and mechanical aspects will all interlock and fit together

-in charge of all Solidworks and CAD drawings- Assist with weight budget of U.A.V. and calculate optimum weight for peak performance


15/23

Control SystemControl SystemInputs Process Output

DOF- Height(arm)

NationalInstruments

(sbRIO)Single Boardembedded

computer

MotorController

Motor/Rotor

DOF-Sweep(arm)

DOF- Roll X

(Accelerometer)

DOF- Roll Y(Accelerometer)

DOF- Roll Z ??(Accelerometer)

MotorController

Motor/Rotor

Motor/Rotor

Motor/Rotor


16/23

NationalNational InstrumentsInstruments LabViewLabView LabView is a graphical programming

environment for scientific and engineering

data gathering and reduction. i.e. Dataflow

programming.

Able to compile for the Freescale CPU

Can be used to create real-time Programs

Real-time

Code / Actions are run dependably in a time

predictable matter - (time constraints).


17/23

Motor ControllerMotor ControllerDual D.C motor driver board

Uses PWM (pulse width modulation) to control

motor speed

Based on L298 full bridge IC

Two independent channels

4A total load current (2A per channel)

25W total power (max)

50V motor supply voltage (max)

Diode protection for inductive loads included

TTL signal compatible (0 to 5V)

Direction control of motor using single hi/low

input(TTL)


18/23


19/23

AccelerometerAccelerometer Triple Axis Accelerometer MMA7260Q from

Freescale

This Accelerometer uses 3.3V and outputs an

Analogue Voltage for each of the three outputs(X,Y,Z)

Selectable sensitivity:15g2g4g6g

Low pass filter

Size - 23x26mm

Weight - 5 grams!


20/23

Note: The voltage is a ratio to the

measured acceleration and to the

supply voltage (ratiometric).


21/23

Control AlgorithmsControl Algorithms

Accelerometerinput - X axis

Accelerometerinput - Y axis

Accelerometerinput - Z axis

Is theAccelerometer

reading =Calibrated

Value ?

End

Increase/Decrease frequencyof Motor relating to theaffected Accelerometer

reading by step of F*(AccR/C)

Fight Stability Algorithm

Algorithm will repeat/loop continuously

in the Real Time System

Yes No


22/23

Control AlgorithmsControl Algorithms

Potentiometers-

Height (arm)

User input-Required Height

Is the MeasuredHeight =Required

Height?

Increase/Decreasefrequency ofAll Motors

Potentiometers-

Sweep (arm)

User input-

Required Sweep

Is the MeasuredHeight =RequiredHeight?

Change the CalibratedValue in the Fight Stability

Algorithm to tilt the UAVin direction needed.

End

Navigational Control,Algorithm

Algorithm will repeat/loop continuously

in the Real Time System

No

No

Yes


23/23

SecondSecond Year UAV ProjectYear UAV Project

To be continued in 2012To be continued in 2012

Questions ?Questions ?

phuc te - 2nd year project

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