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Design Review #1 Autonomous Hovercraft

Design Review #1 Autonomous Hovercraft. Mechanical Engineering 8936 Term 8 Design Project February 3, 2012. Agenda. Project Scope Background Simulation Design Considerations Hardware Software Project Management Future Considerations Conclusion. Project Scope.

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Design Review #1 Autonomous Hovercraft

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  1. Design Review #1Autonomous Hovercraft Mechanical Engineering 8936 Term 8 Design Project February 3, 2012

  2. Agenda • Project Scope • Background • Simulation • Design Considerations • Hardware • Software • Project Management • Future Considerations • Conclusion

  3. Project Scope The scope of this project is to complete research that will lead to the design and construction of an autonomous hovercraft. The hovercraft will have the ability to maneuver a path that will contain multiple obstacles. This hovercraft can then be used to find an object or give video surveillance and return to its initial launch point.

  4. Background of Hovercraft A hovercraft is a vehicle that floats or hovers on a cushion of pressurized air. A hovercraft consists of: • Hull • Skirt • Lift Fan • Propulsion Fan

  5. Design Parameters • α = Hovercraft Angle Heading • β = Hovercraft Angle of Velocity • E = Drive Force • F = Friction Force • T = Yaw Torque • M = Mass • I = Yaw Inertia • K = Dart Effect • J = Yaw Drag • X = Prop Coefficient Relating Ramp up Speed • Y = Prop Coefficient Relating Maximum Torque • Z = Coefficient of Friction

  6. Governing Equations Equations of Motion Drive Equation Yaw Control Translation Control

  7. Simulation • Effects of Variables on Hovercraft Control • Root Locus & Simulink

  8. Simulation

  9. Simulation

  10. Design Consideration • Motor Selection Lift Fan Motors Propulsion Motors

  11. Design Consideration • Foam Skirt

  12. Design Consideration • Fabric Skirt

  13. Design Consideration • Rubber Skirt

  14. Hardware • 16F876 PIC • 2200 mAhLiPo Battery (11.1 Volts) to run H Bridges • 9 Volt Battery to run PIC

  15. Hardware • Sharp GP2Y0A02YK0F IR Range Sensor - 20 cm to 150 cm • Maxbotix LV-MaxSonar-EZ0 High Performance Sonar Module • Dual Axis Gyro Breakout Board IXZ500 ±500° / sec • HMC6352 Compass Module

  16. Software • Programming in C, Converted to Hex • Code Will Interpret Sensors to Navigate Path • PID Control Algorithm for Cornering • Potential Issues With Errors in Calculations, Sampling Time

  17. Project Management • Project Schedule • Project Budget • Website

  18. Project Schedule

  19. Project Budget

  20. Project Website www.autonomoushovercraft.yolasite.com Please Visit!

  21. Way Forward • More robust prototype • Video surveillance • Determine system parameters for simulation • Integration of PIC board with sensors • Designing lift fan • Purchase new hardware

  22. Conclusion • Project Scope • Background • Simulation • Design Considerations • Hardware • Software • Project Management • Future Considerations

  23. Thank You! Any Question?

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