Loading presentation...

Present Remotely

Send the link below via email or IM

Copy

Present to your audience

Start remote presentation

  • Invited audience members will follow you as you navigate and present
  • People invited to a presentation do not need a Prezi account
  • This link expires 10 minutes after you close the presentation
  • A maximum of 30 users can follow your presentation
  • Learn more about this feature in our knowledge base article

Do you really want to delete this prezi?

Neither you, nor the coeditors you shared it with will be able to recover it again.

DeleteCancel

Make your likes visible on Facebook?

Connect your Facebook account to Prezi and let your likes appear on your timeline.
You can change this under Settings & Account at any time.

No, thanks

Copy of COSMOS AUTONOMOUS QUADCOPTER

No description
by

Mustafa Saleh

on 27 October 2014

Comments (0)

Please log in to add your comment.

Report abuse

Transcript of Copy of COSMOS AUTONOMOUS QUADCOPTER

Our Team
Concepts Exploration
Project Goals
To provide a flexible low power wireless UAV that hovers at pre-determined altitude.

Can be used for:
* Surveillance
* Action Cinematography
* Search & Rescue
* Small Scale vertical transport


Project Management
COSMOS AUTONOMOUS QUADCOPTER
Our Design
COSMOS Design Analysis
Results Demonstation!
Let's FLY!
TRC3000: Mechatronics Project II

Department of Mechatronics Engineering
Phang de Yao
Quek Hui Jean
Quadcopter components
Level 0: Wireless Communication
Level 1: Quadcopter
Project Schedule
Risk Analysis
Project Cost
Matlab GUI
PID and 5-Point Averaging Filter
Sustainability
THE FIRST STEP INTO UNMANNED AUTONOMOUS AERIAL VEHICLES VERTICAL NAVIGATION
Work Breakdown Structure


Experienced in electrical & mechanical work
Experienced in programming (C++, MATLAB, Arduino)
Familiar with components available in the market for quadcopters, e.g, Ultrasonic sensors, IMU and microcontrollers.
Specializes in team management & Technical writing

Mustafa Maher
Low Wai Sern
* Experienced in electrical work
* Experienced in programming (C++, MATLAB, Arduino)
* Familiar with sensors and electronic components
* Specializes in electrical engineering and programming

(Project Manager)
(Team Programmer)
(Mechanical Designer)
* Experienced in mechanical design
* Experienced in programming (C++ and PLC)
* Familiar with robotic design
* Specializes in mechanical design and component manufacturing

* Experienced in electrical design
* Experienced in CAD (Computer Aided Design) Modelling
* Proficient in using MATLAB
* Specializes in systems design and integration

(Electrical System Designer)
Future Plans
Basic Concepts of Quadrotors
Matlab R2013a

*GUI
* Wireless serial communication

serial COM 7
Baud rate:9600

*Special Arduino algorithm

Baud rate:9600

Arduino Program:
* Wireless serial communication:
State Diagram of how Matlab & Arduino Interact
How does Matlab GUI run?
How to use:
1.
Run
GUI from Matlab
2. Click
Start
3. Click
FLY
when ready
4.
Enter height
to
increase/decrease height
5. Click
Land
6. Click
Stop
to terminate
Project Behind schedule in weeks 10&11
The following actions were taken:
#1: Work overtime
#2: Crash the Schedule
Intended working hours for this project were extended from:

72 hours

to

80 hours
for designers
& 87 hours
for programmers

Tuning task accelerated
1person @16 days
2 people @ 11 days
#3: Fast track the project
The final tasks that were supposed to be done in sequence (
tuning/final report/presentation prepatation)
were reassigned in parallel

Since the project slipping occured at the final stage, there was
no need
to
swap resources
,
change the scope
or
change priorities
* Stabilize Quad &hover at constant altitude
* Ability to change altitude
* Use wireless communication to contact Quad

RM 1442

< Max. RM2000
12 WEEKS
COST
TIME
SCOPE
QUALITY
Autonomous
VS
RC & Automatic
Decided to go with
autonomous
.
Autonomous – No manual maneuver is needed.
- No experience is needed to fly the quad.
Type of UAV
Decided to go with
multicopter
.
Cheap, simple and easy to troubleshoot, fix and replace parts

(Fixed wing, rotary wing, multicopter)
Type of Sensor Used

Height measurement

ultrasonic sensor VS infrared sensor
Ultrasonic
– more accurate compared to Infrared, Sunlight doesn’t affect

UAV Orientation

Inertial Measurement Unit
(IMU) sensor
– comes with accelerometer and gyroscope

Microcontroller
Arduino Mega 2560

– more familiar with this type of microcontrollers
- Plenty of references, libraries, examples and help can be found online
- Sufficient Flash memory (256KB) and Clock speed 16MHz
- Alot of pins (54 digital I/O, 16 Analog in,14 PWM)
Main Components
Main frame
Exoskeleton
4 rotors
Electronic Speed Controller (ESC)
Sensors
Ultrasonic
Inertial Measurement Unit (IMU)
Microcontroller
Arduino Mega 2560
Power Source
LiPo Batteries
Communication
XBee Pro modules
+ XBee dongle & shield
Special Thanks to:
Questions?
Mr. S. Veera Ragavan
for his continous guidance and help in tackling problems
Mr. Paneer
&
Mr. Bathmanathan
for extending lab opening hours and their help in acquiring the project components
QuadForce : 11.3N
Total Lift Force: 11.5N ----> force/motor =2.875N
motor lift speed=> 4123.6rpm
From Calculation
In only
1 semester,
we were able to
achieve acceptable

quadcopter

stabilization
,
hover at a user defined height input
&
implement wireless GUI.
However, if given more time (extra semester)
The
stability
of the quadcopter can be
further improved
(to reach perfect tuning)
Algorithm
can be
further enhanced
to include
motion in X & Y axes
GPS
can be added to move the quadcopter to
specific coordinates.
(Can also include some
aerobatic maneuvers
)
Overall Flow Diagram

Path taken by data from sensors to output

Sensor inputs filtered to reduce inconsistency in inputs

PID Controllers convert inputs into output error corrections

Output is fed to motor transfer function and sent to individual motors
PID Controller

Proportional-Integral-Derivative Controller.

Uses three parameters; Kp, Kd and Ki to calculate outputs to reduce the error.

Requires extensive tuning to achieve needed performance.
5-point Averaging Filter

Sensor
inputs inconsistent and prone to fluctuations due to external disturbances
.

Reduces effects of large spikes in sensor inputs.

Increases efficiency of PID controller as it is affected by sudden input changes.

Commands sent from
ground control using MATLAB
using specific numerical commands

Code added to automatically land quadcopter if ground signal is lost

C.O.G = 0.02m below propellers

CAD Model:
Obtaining Moments of Inertia, Centre of Gravity
Iyy = 0.02 kg m2

Ixx = 0.02 kg m2

Mass of quadcopter = 1.2kg

Output = θ (the change in angular displacement)

Propeller 2

Propeller 1

Input = Fnet (force difference between propeller 1 and 2)

Quadcopter Response:
Input = Fnet
(force difference between propeller 1 and 2)

Output = θ
(the change in angular displacement)

Obtaining transfer function
Angular response to a step input force:

Transfer function
(for both pitch and roll because of Quadcopter symmetry)

Quadcopter Response:
Response before PID Implementation

Experimental data to determine Lift Force from Input signal
motor
Propeller
Arduino Mega+XBee Pro module
LiPo batteries
UltraSonic Sensor
IMU Sensor
Actual

Quadcopter

COSMOS Quadcopter
From calculations with reference to the data, an i
nput signal greater than 1670
should generate enough
lift force (>11.5N
) to lift the quadcopter weighing 10.3N off the ground.
Eliminates unnecessary fuel usage
Saves cost
Saves time to complete tasks
Full transcript