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TornadoTrak

TornadoTrak. Preliminary Design Review February, 2012. Kody Mallory Adam Prulhiere Bruce Deakyne Luke Tonneman Trevor McDonald. RECUV Mission.

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TornadoTrak

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  1. TornadoTrak Preliminary Design Review February, 2012 Kody Mallory Adam Prulhiere Bruce Deakyne Luke Tonneman Trevor McDonald

  2. RECUV Mission • The Research and Engineering Center for Unmanned Vehicles (RECUV) is a university, government, and industry partnership dedicated to the development and application of unmanned vehicle systems. RECUV research encompasses scientific experiments, commercial applications, mitigation of natural and man-made disasters, security, and national defense.

  3. Photo Courtesy of Jack Elston

  4. Photo Courtesy of Jack Elston

  5. Mission Statement • The TornadoTrak system will be capable of maintaining contact with an unmanned aerial vehicle (UAV) as it flies its route in dangerous and unstable weather conditions.

  6. Project Objectives • Operate at 900 MHz • Omni-directional and electronic beam-steering modes • Autonomous and manual input beam-steering • Interface with existing architecture • Fit on roof of chase van

  7. Goals • Primary • Receive desired angle from Mobile Control Station (MCS) and steer relative to van orientation • Secondary • Combine GPS data from UAV and MCS to determine desired angle • Tertiary • Use signal quality feedback from transceiver to finely adjust angle using control law

  8. Block Diagram

  9. Phased Array • 8 Element Uniform Circular Array • Half Wavelength Radius • Radiating Element: Monopole

  10. Radiating Element • 900 MHz Monopole Antenna • SMA Connection • Up to 10 W • 50 Ω • Cheap • Small • Light-Weight • Durable

  11. Microhard MHX-910 Transceiver

  12. Block Overview Transmit Network Transceiver Antennas Controller Receive Network

  13. Beam Forming Network Antenna Divider T/R Amplifier Phase Shifter T/R Control Block Summer Phase Shifter

  14. Transmit Network • Purpose: To relay amplitude and phase shifted signal from source to 8 separate antennas • Parts • T/R Switch • Phase Shifters • Amplifiers • Limiter Antenna Divider T/R T/R Amplifier Phase Shifter Amplifier

  15. Receive Network • Purpose: • Relay and phase shift data from antenna array to base station • Utilizes the internal amplifier of the MCS • Parts: • Isolators (if required) • T/R Switch • Phase Shifters • Summer Antenna Summer T/R T/R Phase Shifter

  16. Preliminary Component Selection • JSPHS-100 Variable Phase Shifter • 0-15V Voltage controlled • 700-1000 MHz • 180 degrees, 50 ohm • AD5582 Quad DAC • 12 bit 0-15V output voltage • Read/Write Mode

  17. Microcontroller • The microcontroller will interface with the MCS and UAV for gathering and processing the location and orientation information • GPS from UAV • Commands from MCS • Control the phase shifters to steer beam. • GPS and Magnetometer from MCS • Communicate with Transceiver

  18. Design Consideration • uC Accuracy • 32 Bit FP unit • Timing requirement- control a 1 degree margin within 0.87 seconds • Omni mode is enabled at ~1km • UAV Speed=20m/s • GPIO=~30 Pins • SCI communication

  19. MCS RF Signal Command (USB/SCI)GPS/Magnetometer Data Phased Array DAC Select [1:0] DAC Mode [3:0] uC AMP (x8) Quad DAC (x4) DAC φ Value[11:0] Voltage Phase Shifter (x8) DAC Read φ [11:0] Phase Shifter (x8) TX Signal Signal Strength Command RS232 Transceiver RX Signal Digital Signal TX Data (From MCS) Analog Signal

  20. Preliminary Component Selection • TMS320F28035 • 32 bit 60MHz with floating point arithmetic unit • SCI/SPI/I2C Interfaces • 1.8/3.3v supply • 45 GPIO pins • USB Interface • FT232RL

  21. Power System • System will be powered by the MCS • This is 120 V AC 60 Hz • Converters need to rectify AC input voltage to DC output voltage • Need 1.8 V, 3.3 V to power ICs • Also need 15 V for reference for DACs • Will also need to monitor current, as too much might damage some components

  22. Design Considerations • Will have two stages: Commercial rectifier, and then linear regulators • Linear regulators will provide the needed voltages • Outputs will need to be monitored to control current output • Outputs will additionally be fused to prevent damaging current spikes • Try to have isolation transformers between different power stages • Done to reduce interference from ground loops

  23. Design Considerations • Special attention to the layout of the PCBs with RF traces • Due to high frequency, could run into EMI and coupling into the power and ground plane. • Converters will have a separate PCB, and power will be routed to each individual system • Promotes modularity • Design for highest efficiency possible • MCS does not have unlimited power

  24. Overview 15 V reference DACs Converter system, 15 V reference and 3.3 V, 1.8 V for ICs 120 V AC from MCS Microcontroller,DACs, Amplifiers, USB Interface 3.3 V, 1.8 V supply

  25. Power System Commercial rectifier providing 15 V DC 120 V AC Linear Regulators Load

  26. Preliminary Component Selection • Capacitors– Mouser Electronics • For bypass, decoupling and various other purposes • POWER SUPPLY EXT - CENB1010A1503B01 • Supplies 12W 15V @ 0.8A • Linear Technology LTC1844 Linear Regulator • Adjustable output voltages • Coilcraft DA2303-AL Isolation Transformers • To minimize ground loops

  27. Interfacing Van Power Antenna Power Systems Magnetometer Microcontroller Amplifiers / Phase Shifters Serial Data

  28. Fixture • Requirements: • Durable • Weatherproof • Lightweight • Materials: • Plexiglass (Acrylic) • Aluminum • PVC Antenna Mount Antenna Ground Plane Shielding PCB

  29. Risks and Mitigation • Processor can’t keep up with UAV • Reduce Tracking resolution and resort to Omni mode further out • USB Interface is non communicative • Revert to module made by Sparkfun and connect • Feedback is not accurate enough • Resort to assuming correct response • DAC accuracy

  30. Risks and Mitigation • RF network error • Calibrate in chamber and modify software • Reflection • Matching network • Component noise • Calibration • Signal Delay • Transceiver settings

  31. Risks and Mitigation • Might not be able to incorporate isolation transformers • Redesign PCB to minimize ground loop size • Interference could be produced from the lines, traces on the PCBs • Shielding

  32. System Mitigation • Modular System • Easy repair in the field • Shielding between PCB and RF • Beam Steering Failure • Switched beam high gain antenna

  33. Fixture Risks and Mitigation • Very little team CAD or fabrication experience • Utilize colleagues in MechE • Adequate shielding • RF power meter • Durability & Weight • Safety margins

  34. Project Mitigation • Schedule “Troubleshoot week” • Reallocate resources as necessary • Phase project • Working individual components

  35. Budget

  36. Budget Cont.

  37. Budget Cont.

  38. Budget Cont.

  39. Anticipated Funding

  40. January 19 – March 1

  41. February 23 – April 5

  42. March 22 – May 3

  43. Acknowledgements • RECUV, Professor B. Argrow, Jack Elston and MaciejStachura • Joe Carey, Fidelity Comtech • Brandon Gilles, First RF • Professors E. Kuester, D. Filipovic • Tom Brown, Sam Siewert • Carissa Pocock, Robert Pomeroy, JeriesShihadeh

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