smartcopter group #3 alvilda rolle brian williams matthew campbell sponsors nelson engineering co...
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SmartCopterGroup #3
Alvilda RolleBrian Williams
Matthew Campbell
SponsorsNelson Engineering Co
Rogers, Lovelock, and Fritz Architecture
University of Central Florida
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IntroductionSmartCopter is a device that is mounted to
the underside of a RC helicopter and records flight data. Such as acceleration, rotation, current heading, and current video. All while streaming video from the helicopter.
MotivationTo understand the dynamics of RC helicopter
flightTo create a starting point for autonomous
designs
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GoalsTo record flight data
Acceleration in x, y, and z axisRotation about the x, y, and z axis.AltitudeMagnetic Heading
To record videoOverlay flight information in post-production
If time permits
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Helicopter DescriptionESKY BELT CP RC Helicopter
Brushless motorBelt driven tail rotor
More control Lower failure rate
Capable of aerobatic flight
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Helicopter Description
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Helicopter DescriptionPosition & Orientation
Frame of reference Space Frame Body Frame Main Rotor Frame
Pitch, roll, yaw Euler angles (shown on next page)
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Helicopter Description
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Helicopter DescriptionFlight Surfaces
Main Rotor Speed in RPMs Beta Angles or Pitch Collective Pitch
Tail Rotor Pitch
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Power ManagementBattery
Lithium Polymer 11.1V 1800mAh 20C 3-Cell high capacitance Li-Po battery Advantages Quantity: 2 Replaces Lithium-Ion
Power Supply Battery Speed controller – regulates voltage supplied to motor Motor - functions as a converter of electrical energy to kenitc
Motor Control Esky 450 3800KV brushless motor Advantages: longer lifetime, higher efficiency No brushes
Kv: 3800 RPM/V
No Load Current: 2.0A
Resistance: -
Max Voltage: 12V
Max Current: 20A
Max Watts: 220W
Weight: 58 g / 2.04 oz
Size: 27.7 mm x 30 mm
Shaft Diameter: 2.3 mm
Poles: 6
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Servos Standard vs. Digital Control flight device Uses error sensing feedback to provide correction Maintain position 3 wire control usage: ground wire, signal wire, power wire Receives a series of pulses sent over a control wire that control the angle of the actuator
arm Connected to linkage that connects to swashplate
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Flight Data System- Hardware
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Accelerometers Used to measure acceleration forces Helps determine orientation Triple Axis Accelerometer –ADXL 335 Low noise and power consumption Polysilicon surface Mechanical sensors for X,Y, and Z axis Used with operating voltages above Vs = 3V, single-supply operation: 1.8V to 3.6V Low power: 350 uA (typical) Great temperature stability, fully assembled Other possibilities: Triple Axis Accelerometer Breakout – SCA3000
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Gyros Mechanical vs. Piezoelectric Pointed nose detection Gyro Breakout Board - IDG500 Dual 500 degree/sec Uses 2 sensor elements that sense the rate of rotation about the X and Y axis Heading Hold (HH) vs. Yaw Rate (YR) Noise filtering Other considerations: IMU 5 Degrees of Freedom IDG500/ADXL335 vs. Gyro Breakout
Board + Triple Axis Accelerometer Breakout*The Inertia Measurement Unit
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Type LV-MaxSonar-EZ2
XL-MaxSonar-EZ4
XL-MaxSonar-AE2
XL-MaxSonar-WR1
XL-MaxSonar-WRA1
Easy to use interface
Yes Yes Yes Yes Yes
Has noise canceling
Some Yes Yes Yes Yes
Outdoor use
*No *No *No Yes Yes
Automatic Calibration..**
On power up only
Yes Yes Yes Yes
Cost $30.00 $55.00 $55.00 $105.00 $105.00
Ultrasonic Range Finder Measure distances between moving and/or stationary objects Ping sensor Ultrasonic Range Finder - Maxbotix LV-EZ2 Quantity: 2
,
*Not specifically designed for outdoor use, but device can be mounted so that the sensor is protected from element exposure
**Automatic Calibration to Compensate for Changes in Temperature, Noise, Humidity, and Voltage
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GPSEM-406A
SiRF Star III ChipsetAccuracy of 5 meters42 second average initialization timeUpdates every secondTTL interface
Formatted String output
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GPS
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Microcontroller• Hardware
– PIC 18F4550– 40-pin configuration– 13 A/D channels
• 10 bit accuracy
– CCP and ECCP modules• Support of 5 PWM channels
– Operating Frequency of up to 48MHz– USB capabilities– ICSP Programming ability
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Microcontroller
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MicrocontrollerMore Hardware
32k of program memory2k of data memory256 bytes of EEPROM75 Instructions
83 w/ Extended Instructions Enabled20 Interrupt Sources
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SD Card InterfaceSD Card Pin Out
1. Chip Select2. DI3. GND4. VDD (+3.3V)5. CLK6. GND
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SD Card InterfaceFlight data stored onto SD Card to be read
after the flightIncludes time stamp so that video can be
synced with dataFAT32 file systemSPI interface
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Embedded SoftwareC18 Programming Language
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Embedded SoftwareGPS Reader
Does Updates GPS via serial communications
Knows Current Location Previous Location
Analog ReaderDoes
Manages the A/D Converter Updates sensor data
Knows Values from each A/D channel
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Embedded SoftwareSensor Reader
Does Initializes Readers Manages data from sources
File WriterDoes
Writes flight data to SD card
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Embedded SoftwareController
Does Initializes components Relays data to File Writer Manages timing between data updates and file writes
Knows Current time Current state
Init Waiting on Data Writing Data Close
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Base Station SoftwareCreated using Java Media FrameworkGUI containing recorded flight video and
data
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TESTING
Financial burdenMaintain structural integrityTimeline setbackCrash could result in potential failure
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TESTING PROCEDURES
Flight SimulatorManual Flight ControlsUltrasonic Range FinderGPSHeliCamSoftwareRF SystemWireless Transmission
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FLIGHT SIMULATORFlight simulator testing will allow the
team to learn the fundamentals of the helicopter flight controls.
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FLIGHT SIMULATORCrashing the actual helicopter is a must to
avoid!Upon successful completion of the flight
simulator, the team will fly the actual helicopter.
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TESTING LOCATIONProper testing
locationLarge areaMinimal trafficTerrain composition
Soft soil Grass
Close proximity to two team member’shomes
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TESTING ACCOMODATIONSMaximize productivity and efficiency on test
days.Additional batteries
Transceiver Helicopter
Close access to electricity, computer, and shelter in the event of unexpected weather.