View
224
Download
2
Category
Tags:
Preview:
Citation preview
MicroCART Senior Design Project
Phase 5
SD-May1014 Team: Michael Peat, Kollin Moore, Matt Rich, Alex ReifertAdvisors: Dr. Nicola Elia and Dr. Phillip Jones
Objective: Create a small electrically powered autonomous flying vehicle capable of takeoff and landing from horizontal surfaces as well as stable indoor hover without human assistance.
Operating Environment:◦ Indoors and Unobstructed Area◦ Within Range of Position Tracking System
End Use and Users:◦ The intended end use of our system will be
continued research and development into the area of autonomous flight systems.
◦ The intended users will be knowledgeable engineering students and/or professors.
Project Plan
Overall System Design
Helicopter Flight
Mechanics
Radio Controller
Onboard Sensors:• IR Camera•Accelerometer•Wireless Transmitter
Ground Station
Power System◦ Designed a step-down buck converter circuit to power the
Wiimote sensors using the helicopter’s battery Required since the battery provides 7.4V and the Wiimote only requires
3.3V
◦ Currently exists on a breadboard circuit, will try and make the package smaller so it will only add minimal weight to the helicopter system
Helicopter Model◦ Researching various papers and also the models created by the
previous MicroCART group◦ The end goal is to design a Simulink block diagram to maintain
helicopter stability during flight◦ Has been very challenging up to this point because many
models are designed to work with standard helicopter blade configuration rather than coaxial
Power System and Modeling
Wii data analysis function completely re-written:◦ Improved efficiency (run time, memory usage…) , overall analysis
capabilties (4 IR sets), expandability, and commenting significantly.
Modified Cwiid code◦ Outputs re-formatted , timestamp added, file output and numbering
added
Fabricated a cradle attaching Wii-mote to helicopter◦ Modified existing Aluminum brackets and a portion of original Wii-mote
case
Beginning further sensor testing◦ Constellations, data resolutions, disturbance spectrum
characterization…
Wii-Remote Programming and Cradle Manufacturing
Reading Xbox Controller◦ Rewrote and adapted software being used by Korebot
Project◦ Tested and all inputs are working and available
Manipulating values appropriately◦ Mapped Xbox inputs to helicopter throttle, pitch, roll and
yaw values.◦ Tested and appropriate values are being generated.
Sending data using RS232 Serial port◦ Sends Channel Command followed by value to FPGA
state machine.◦ Found current maximum refresh rate of 2ms.◦ Appropriate voltage levels are seen at the DAC outputs.
Programming
Traditionally used by physically changing potentiometers that in turn changed 4 control voltages
We decided to use the controller in a new way by directly changing the control voltages with a computer program◦ We first measured the control voltages and recorded how
they varied ◦ After carefully labeling the different control channels we
stripped the controller of nonessential parts including the potentiometers
◦ First we test our idea by connecting the controller to controlled power source
◦ We finally connected the controller to a DAC and FPGA that allowed us to connect directly to our team laptop
RC Controller
Schedule
Data Aquistion Testing
Model Design
Data Analysis
Controller Design and Testing
End Product Testing
End Product Documentation
2/11/2010
2/21/2010
3/3/2010
3/13/2010
3/23/2010
4/2/2010
4/12/2010
4/22/2010
5/2/2010
Any Questions ?
Recommended