Transcript Final Presentation - Department of Electrical Engineering and

SmartCopter
Group #3
Alvilda Rolle
Brian Williams
Matthew Campbell
Sponsor
Rogers, Lovelock, and Fritz
Architecture and Engineering
University of Central Florida
December 4, 2009
Introduction
 SmartCopter 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.
 Motivation
 To understand the dynamics of RC helicopter flight
 To create a starting point for autonomous designs
Goals
 To record flight data
 Acceleration in x, y, and z axis
 Rotation about the x, y, and z axis.
 Altitude
 Magnetic Heading
 To record video
 Overlay flight information in post-production

If time permits
Helicopter Description
 ESKY BELT CP RC Helicopter
 Brushless motor
 Belt driven tail rotor


More control
Lower failure rate
 Capable of aerobatic flight
Helicopter Description
Helicopter Description
 Position & Orientation
 Frame of reference



Space Frame
Body Frame
Main Rotor Frame
 Pitch, roll, yaw

Euler angles (shown on next page)
Helicopter Description
Helicopter Description
 Flight Surfaces
 Main Rotor



Speed in RPMs
Beta Angles or Pitch
Collective Pitch
 Tail Rotor

Pitch
Power Management
Battery











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
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
Flight Data System- Hardware
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
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
Ultrasonic Range Finder
 Measure distances between moving and/or stationary objects
 Ping sensor
 Ultrasonic Range Finder - Maxbotix LV-EZ2
 Quantity: 2
Type
LVMaxSonarEZ2
XLMaxSonarEZ4
XLMaxSonarAE2
XLMaxSonarWR1
XLMaxSonarWRA1
Easy to use
interface
Yes
Yes
Yes
Yes
Yes
Has noise
canceling
Some
Yes
Yes
Yes
Yes
Outdoor use
*No
*No
*No
Yes
Automatic
Calibration..*
*
On power up
only
Yes
Yes
Yes
Yes
Cost
$30.00
$55.00
$55.00
$105.00
$105.00
,
Yes
*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
GPS
 EM-406A
 SiRF Star III Chipset
 Accuracy of 5 meters
 42 second average initialization time
 Updates every second
 TTL interface

Formatted String output
GPS
Microcontroller
• Hardware
– PIC 18F4610
– 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
– Enough Memory to fit SD Card Driver
– ICSP Programming ability
Microcontroller
Microcontroller
 More Hardware
 64k of program memory
 2k of data memory
 256 bytes of EEPROM
 75 Instructions

83 w/ Extended Instructions Enabled
 20 Interrupt Sources
SD Card Interface
 SD Card Pin Out
1. Chip Select
2. DI
3. GND
4. VDD (+3.3V)
5. CLK
6. GND
SD Card Interface
 Flight data stored onto SD Card to be read after the
flight
 Includes time stamp so that video can be synced with
data
 FAT32 file system
 SPI interface
Embedded Software
 C18 Programming Language
Embedded Software
 GPS Reader
 Does

Updates GPS via serial communications
 Knows
 Current Location
 Previous Location
 Analog Reader
 Does


Manages the A/D Converter
Updates sensor data
 Knows
 Values from each A/D channel
Embedded Software
 Sensor Reader
 Does


Initializes Readers
Manages data from sources
 File Writer
 Does

Writes flight data to SD card
Embedded Software
 Controller
 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
Base Station Software
 Created using Java Media Framework
 GUI containing recorded flight video and data
Testing
 Financial burden
 Maintain structural integrity
 Timeline setback
 Crash could result in potential
failure
 Must function on presentation day
Testing Procedures
 Flight Simulator
 Manual Flight Controls
 Hardware Connections
 Global Positioning System
 HeliCam
 Software
Flight Simulator
 Flight simulator testing will allow the team to learn the fundamentals
of the helicopter flight controls.
 Crashing the actual helicopter is a must to avoid!
 Upon successful completion of the flight simulator, the team will fly
the actual helicopter.
Hardware Connections








Source Voltage ( Vdd )
Ground ( Vss )
5/3.3 Voltage Regulator
Accelerometer
Gyrometer
Ultrasonic Range Finder
SiRF Star III Chipset
SD Card Interface
Source Voltage ( Vdd )
 Test circuit board input voltage via splice from 11.1V
Lithium Polymer battery.
Voltage Regulator
 Need to regulate voltage from 5V to 3.3V for
accelerometer, gyrometer, and SD card interface.
Accelerometer
 Input voltage needs to be 3.3V at pin 9 of breakout
board.
 Continuity test for XOUT , YOUT , ZOUT outputs at pins 1, 2,
and 3 of breakout board, respectively.
Gyrometer
 Input voltage needs to be 3.3V at pin 9 of breakout
board.
 Continuity test for XRATE , YRATE outputs at pins 7 and 6
of breakout board, respectively.
Ultrasonic Range Finder
 Input voltage needs to be 5V at pin labeled
“
+5 ”
 Continuity test for analog output at pin labeled “ AN ”
SiRF Star III Chipset
 Input voltage needs to be 5V at pin 2 of SiRF Star III
unit.
 Continuity test for RX and TX outputs at pins 3 and 4
of SiRF Star III unit.
SD Card Interface
 Input voltage needs to be
3.3V at pins labeled “ CS, DI,
VCC , CLK, DO, IRQ, P9 ”
 Continuity test at pins
labeled “ CD, WP ”
3.3V
3.3V
3.3V
3.3V
3.3V
3.3V
3.3V
CONTINUITY
CONTINUITY
Global Positioning System
 Test for accuracy by comparison with Blackberry
Global Positioning System.
Helicam
 Plug transceiver into television to ensure proper
function of wireless camera system prior to mounting.
 TV tuner card for wireless feed prior to mounting.
Software
 Testing done incrementally
 Sensors Tested
 GPS Tested
 SD Card Tested
 Final Testing
 Make sure everything works together
Testing Location
 Proper testing location
 Large area
 Minimal traffic
 Terrain composition
 Soft soil
 Grass
 Close proximity to
two team member’s
homes
Testing Accommodations
 Maximize productivity and efficiency on test days.
 Additional batteries



Transceiver
Helicopter
Multimeter
 Close access to electricity, computer, and shelter in the
event of unexpected weather.
Completed hardware
Base Station Software
Budget
Part
Price per Qua
Unit ($)
ntity
Total
($)
Esky Belt-CP 450 RC Helicopter
200.00
1
200.00
PIC 40 Pin 48MHz 16K 13 Channel A/D USB-18F4610
11.39
1
11.39
Ultrasonic Range Finder – Maxbotix – EZ2
27.95
2
55.90
Compass Module – HMC 6352
59.95
0
59.95
Triple Axis Accelerometer Breakout – ADXL 330
34.95
0
0.00
Gyro Breakout Board – Dual 500 degree/sec
59.95
0
0.00
20 Channel EM – 406A SiRF III Receiver with Antenna
59.95
1
59.95
2.4Ghz HeliCam
39.95
1
39.95
IMU 5 Degrees of Freedom
99.95
1
99.95
Heli-CaM Wireless Camera
59.95
1
59.95
Serial Cable DB9 M/F - 6 Foot
3.95
1
3.95
40 Pin PIC Development Board
15.95
1
15.95
~650.00
Status
Acknowledgments
 Dr. Richie
 Professors present
 Rogers, Lovelock, and Fritz Architecture and
Engineering
 Team members