MAV Control System Project # P09122

1. MAV Control SystemProject # P09122 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

2. Contents • Background • Project Planning • Concept Development • Control System • Logic Controller • Sensors • Test Stand • Future Work • Risk Assessment

3. 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 2010 competition MAV 2006 Model MIT Autonomous UAV Aerobatics Project

4. Project Planning

5. Project Overview & 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. Stabilize Flight Adaptable Fully Tested and Integrate with Platform Secondary Business Goal: Able to compete in the 2010 EMAV Competition.

6. Identify Customer Needs Needs Hierarchy Control Capability Be as autonomous as possible. Create a stable flight. Command the control surfaces appropriately. Have a video relay system. Process data from all inputs.. Adaptability Calibrated for the platform characteristics. Compensate for environmental conditions. Compensate for various payloads. Have interchangeable sensors. Receive Inputs Work simultaneously with remote input. Measure the current conditions. Have GPS capability. Weight and Size Be light weight Fit within MAV platform Independence Be independent of the platform.

7. Identify Customer Needs Relative Importance of Needs (1=Highest)

8. Establish Target Specifications List of Metrics

9. Concept Development

10. Overall System Architecture

11. Control System Concept • Requirements: • Receive All Inputs (Pilot Input & Sensor Input) • Create Stable Flight • Command Surfaces (Elevons, Elevator, Rudder & Thrust) • Compensate for Environment (Disturbance) • Adaptable for Different Platforms • Concept:PID Feedback Control for Each Input

12. Overall Control System Concept Logic Controller Functions PID Feedback Control for Each Input

13. Preliminary System Model Logic Controller Functions

14. Flight Dynamics Model

15. Logic Controller • Selection Criteria • Control Capability • Adaptability • Inputs Receivable • Weight & Size • Cost • Complexity • Time to get working

16. Logic Controller • Concepts • Last Year’s O-Navi Controller • Purchase different commercial fully developed board • Design and build from parts O-Navi Microcontroller

17. Logic Controller Design • Logic Controller Design Concepts • MCU only • MCU and FPGA • FPGA only

18. Detailed System Diagram

19. FPGA Selection Selection Criteria Familiarity Price Manual solderability Power efficient I/O pins Selection: Altera Cyclone III- EP3C16E144C8N Package: EQFP Logic elements: 15408 I/O pins: 84 Cost: $26.70 CMOS process: 65nm

20. FPGA System Diagram

21. Sensor Concepts • Required Measurements • 3-Axis Translation • 3-Axis Rotation • Airspeed • Altitude • Angle of Attack

22. IMU Selection Selection Criteria Cost Dimension Gyro range (deg/sec) Acceleration range (g) band width Power Usage Output Selection: Analog Devices- ADIS16350 Resolution: 14bit Measurement : 300 (deg/sec) Interface: I2C/SPI Voltage: 5V Current: 33mA Price $528.00 DOF 6 axis

23. GPS Selection Selection Criteria Accuracy Voltage Supply Power Consumption Battery Backup Built in Antenna Baud rate Selection: Tyco Electronics (Vincotech) V23993-A1082-A Accuracy: <2.5m Voltage: 1.75-1.85V Current 35mA Antenna : Included Baud rate: 4800-34400bps Updates: <0.1s Dimensions: 0.55 x 0.45 x 0.095'' Weight: <0.05oz Channels: 12 Price: $55.60 • Package connection • Dimensions • Weight • Price • Acquisition rate • Channel Tracking A1082-A

24. Airspeed Sensor Selection Selection Criteria Differential Pressure Sensor: Cost Sensitivity Active Range Linearity Dimensions Selection: Freescale MPXV7002 Range: 0 - 0.3 PSI-D Sensitivity: 1 V/kPa Cost: $15.78

25. Altimeter Sensor Selection Selection Criteria Absolute Pressure Sensor: Cost Sensitivity Active Range Linearity Dimensions Selection: Freescale MPXH6130A Range: 2.2 – 18.9 PSIA Sensitivity: 39.2 mV/kPa Cost: $15.09

26. Airspeed Sensor Selection Selection Criteria Calculation: Bernoulli: Cruise: v = 30 mph = 13.4112 m/s Standard Density: ρ = 1.21 kg/m3 Need sensor with range close to 0 to 0.015 psi Smallest Range Available: 0 to 0.3 psi Sensitivity = 1 V/psi For 1mV electronics accuracy: Low Speed: ΔP = 1 Pa, v = 3 mph, ΔP = 2 Pa, v = 1.81 m/s = 4 mph Resolution: 1 mph At Cruise: v = 30 mph, ΔP = 109 Pa, ΔP = 108 Pa, v = 29.88 mph Resolution : 0.12 mph at cruise

27. Altimeter Sensor Selection Selection Criteria Calculation Hydrostatic Pressure: Need Absolute Pressure Sensor Standard Patm = 101.3 kPa = 14.69 psi Say altitude of 1000 ft = 300 m assuming ρ = constant = 1.21 kg/m3 Considering normal variations or pressure and temperature want margin: Want range around: 75 kPa < P < 125 kPa = 10.8 psi < P < 18.13 psi Closest Range: 2.2 psi to 18.9 psi Sensitivity: 39.2 mv/kPa For 100 ft change: ΔP = -0.36 kPa For 10 ft change: ΔP = -0.036 kPa For 1 mV change: Δh = 7 ft

28. Test Stand Architecture

29. Test Stand Concept Multi-Axis Controlled Test Stand

30. Test Stand Motor Selection Selection Criteria Cost Holding Torque (oz-in) Step Angle (deg) Power (w) Resistance (ohms) Weight (g) Selection: Danaher Motion: 26M048B1B-V19 Bipolar Holding Torque (oz-in):3.00 Weight (g): 57.2 Step Angle (deg): 1.00 Cost: $26. 26M048B1B-V19

31. Test Stand Motor Selection Selection Criteria Calculation Torque Inner Motor: I = 17 lbmin2 (from CAD Model) Outer Motor: I = 150 lbmin2 Need to calculate max α we want for the test stand Say max roll rate = 10 rpm (F-18 = 120 rpm) If reaches roll rate by 45 deg (1/8 rev) with constant α Using Rotational Kinematics: Solving for α: Calculating Torque:

32. MSD I Future Work

33. Control System • Review & Finalize Non-Linear Plant Model • Finish Feedback Conversions • Model Sensors • Linearize Plant and Sensor Models • Develop Continuous Control Gains • Discretize System Model • Develop Discrete Control Gains • Generate Control Law Code

34. Logic Controller • Review Component Documentation • Familiarize with NIOS II • Instantiate NIOS II core on FPGA • Store program code in Flash • Implement Serial Protocols • Investigate SD Card Data Storage Potential • Begin Prototyping All Component Communication

35. Sensors • Temperature Sensor Selection • Determine Pitot-Tube Hardware and Location • Review Sensor Documentation • Develop Sensor Power Strategy • Research Sensor Modeling Theory • Develop PCB layout software knowledge • Research Method for Digitizing Analog Sensors

36. Test Stand • Research & Select Motor Drivers • Research & Select Encoders • Select Power Supply • Select Transceiver Module • Develop Communication Module • Develop User Interface • Refine Test Stand Design • Structure • Wire Routing

37. Other • Develop Power Budget • Primary and Secondary Systems • Test Stand • IMU Stage • Motors

38. Current Schedule & Progress

39. MSD I Projected Progress • Complete Tasks Listed in Future Work • Finish Detail Design Early • Start Ordering Sensors and Components Early • EE’s Can Start Modeling Sensors • CE’s Can Start Checking Communication

40. Risk Assessment