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SmartCopterGroup #3
Alvilda RolleBrian Williams
Matthew Campbell
SponsorsNelson Engineering Co
Rogers, Lovelock, and Fritz Architecture
University of Central Florida
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
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
Helicopter DescriptionESKY BELT CP RC Helicopter
Brushless motorBelt driven tail rotor
More control Lower failure rate
Capable of aerobatic flight
Helicopter Description
Helicopter DescriptionPosition & Orientation
Frame of reference Space Frame Body Frame Main Rotor Frame
Pitch, roll, yaw Euler angles (shown on next page)
Helicopter Description
Helicopter DescriptionFlight Surfaces
Main Rotor Speed in RPMs Beta Angles or Pitch Collective Pitch
Tail Rotor Pitch
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
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
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
GPSEM-406A
SiRF Star III ChipsetAccuracy of 5 meters42 second average initialization timeUpdates every secondTTL interface
Formatted String output
GPS
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
Microcontroller
MicrocontrollerMore Hardware
32k of program memory2k of data memory256 bytes of EEPROM75 Instructions
83 w/ Extended Instructions Enabled20 Interrupt Sources
SD Card InterfaceSD Card Pin Out
1. Chip Select2. DI3. GND4. VDD (+3.3V)5. CLK6. GND
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
Embedded SoftwareC18 Programming Language
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
Embedded SoftwareSensor Reader
Does Initializes Readers Manages data from sources
File WriterDoes
Writes flight data to SD card
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
Base Station SoftwareCreated using Java Media FrameworkGUI containing recorded flight video and
data
TESTING
Financial burdenMaintain structural integrityTimeline setbackCrash could result in potential failure
TESTING PROCEDURES
Flight SimulatorManual Flight ControlsUltrasonic Range FinderGPSHeliCamSoftwareRF SystemWireless Transmission
FLIGHT SIMULATORFlight simulator testing will allow the
team to learn the fundamentals of the helicopter flight controls.
FLIGHT SIMULATORCrashing the actual helicopter is a must to
avoid!Upon successful completion of the flight
simulator, the team will fly the actual helicopter.
TESTING LOCATIONProper testing
locationLarge areaMinimal trafficTerrain composition
Soft soil Grass
Close proximity to two team member’shomes
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.