uav development

14
1 Building UAV Vehicles Ben Black, Ph.D – System Engineer Marcus Monroe – System Engineer Andy Cheng – Application Engineer Javier Gutierrez - Senior

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This presentation was given during the robotics summit to talk about the development of our quadrotor helicopter UAV.

TRANSCRIPT

Page 1: UAV Development

1

Building UAV Vehicles

Ben Black, Ph.D – System EngineerMarcus Monroe – System EngineerAndy Cheng – Application Engineer

Javier Gutierrez - Senior PMM

Page 2: UAV Development

2

Agenda

• Hardware Description• Algorithm Development• Software Deployment• Lessons learnt

Page 3: UAV Development

3

Hardware Description – 4 rotor copter

• Motors + Blades• Sensors

6 axes IMU Ultrasound Dig Compass

• Controller Single Board RIO

• Extra hardware Daughter card Bluetooh Speed controllers

Page 4: UAV Development

4

Control Algorithm Design

Model Creation

Linearizer

Gains

Page 5: UAV Development

5

Model Development – Non Linear

Page 6: UAV Development

6

Control Design – Control and Observer Gains

Page 7: UAV Development

7

Model & Control Simulation

Page 8: UAV Development

8

Deployment - I2C Sensor

Page 9: UAV Development

9

Implementation Challenges

• Daughter Card• Voltage requirements.• Model calibration• Sensor to state• Implementation and

Controller tuning

Page 10: UAV Development

10

Challenges- Daughter card

Page 11: UAV Development

11

Challenges - Voltage Requirements

7.7 V 19 V

Page 12: UAV Development

12

Challenges- Model Calibration

0 100 200 300 400 500 600 7000

50

100

150

200

250

300

350

400

450

Motor Characterization

thrust

Page 13: UAV Development

13

Challenges – Sensor to state

12 States x, xdot

Model Sensors

Measurements x, xdot,xdotdot

Page 14: UAV Development

14

Challenges - Implementation and Tuning

Sensor Noise Bias LQR design Kalman Filter Safety