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Detailed review of the MAV Control System project achievements, objectives, and recommendations for future improvements. The project focused on designing a flight control system for autonomous Micro Aerial Vehicles. Key goals included achieving desired flight qualities and stability. Accomplishments included stability augmentation, autopilot system, and integration testing. The system architecture included simulations, electronics design, and special features like wireless communication and real-time data transmission. Recommendations included refining PCB design, conducting onboard sensor calculation tests, and exploring robust controls.
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MAV Control System - P09122Final Project Review Erik Bellandi – Project Manager Ben Wager – Lead Engineer Garrett Argenna – Mechanical Engineering Michael Pepen – Electrical Engineering Tahar Allag – Electrical Engineering Ramon Campusano – Computer Engineering Stephen Nichols – Computer Engineering
Contents • Background • Objectives & Deliverables • MSD I Achievements • MSD II Achievements • Recommendations
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 MAV 2006 Model MIT Autonomous UAV Aerobatics Project
Project Objectives & Deliverables Product Description / Project Overview To 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.
MSD I Accomplishments Detailed Design
Stability Augmentation System Autopilot System Control System Concept • 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
Platform Simulation & Control System Open-loop Simulations Preliminary Autopilot Simulations Stability Augmentation System
Electronics Board PCB Design Actual Picture Final Electronics
Sensors Temperature and Pressure Data GPS and IMU Test Drive Data Video
Test Stand Actual Picture -what we have of test stand, electronics and “safety box”
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)
Target Specifications List of Metrics
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.)
