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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. - PowerPoint PPT Presentation
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SmartCopterGroup #3
Alvilda RolleBrian Williams
Matthew Campbell
SponsorRogers, Lovelock, and Fritz
Architecture and Engineering
University of Central Florida December 4, 2009
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 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
MicrocontrollerMore Hardware
64k 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
TestingFinancial burdenMaintain structural integrityTimeline setbackCrash could result in potential
failureMust function on presentation
day
Testing Procedures
Flight SimulatorManual Flight ControlsHardware ConnectionsGlobal Positioning
SystemHeliCamSoftware
Flight SimulatorFlight 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 ConnectionsSource Voltage ( Vdd )Ground ( Vss )5/3.3 Voltage RegulatorAccelerometerGyrometerUltrasonic Range FinderSiRF Star III ChipsetSD Card Interface
Source Voltage ( Vdd )Test circuit board input voltage via splice
from 11.1V Lithium Polymer battery.
Voltage RegulatorNeed to regulate voltage from 5V to 3.3V for
accelerometer, gyrometer, and SD card interface.
AccelerometerInput 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.
GyrometerInput 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 FinderInput voltage needs to be 5V at pin labeled “ +5
”
Continuity test for analog output at pin labeled “ AN ”
SiRF Star III ChipsetInput 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 InterfaceInput voltage needs to
be 3.3V at pins labeled “ CS, DI, VCC , CLK, DO, IRQ, P9 ”
Continuity test at pins labeled “ CD, WP ”
3.3V3.3V3.3V3.3V
3.3V3.3V3.3V
CONTINUITYCONTINUITY
Global Positioning SystemTest for accuracy by comparison with
Blackberry Global Positioning System.
HelicamPlug transceiver into television to ensure
proper function of wireless camera system prior to mounting.
TV tuner card for wireless feed prior to mounting.
SoftwareTesting done incrementally
Sensors TestedGPS TestedSD Card Tested
Final TestingMake sure everything works together
Testing LocationProper testing
locationLarge areaMinimal trafficTerrain composition
Soft soil Grass
Close proximity to two team member’shomes
Testing AccommodationsMaximize 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
BudgetPart Price
per Unit ($)
Quantity
Total ($)
Status
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
Acknowledgments Dr. RichieProfessors presentRogers, Lovelock, and Fritz Architecture and
EngineeringTeam members