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P10236 Introduction. MSD Project P10236: Configurable Control Platform for Unmanned Vehicles. Project Introduction. P10236 Introduction. Presentation Topics. The Need for P10236 Objectives and Deliverables History of Project Family Customer Needs and Engineering Specifications Risks - PowerPoint PPT Presentation
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MSD Project P10236:Configurable Control Platform
for Unmanned Vehicles
Project Introduction
P10236 Introduction
Presentation Topics• The Need for P10236• Objectives and Deliverables• History of Project Family• Customer Needs and Engineering Specifications• Risks• Concept Development and Selection• External Benchmarking
P10236 Introduction
The Need for P10236
• UAV has completed 1st-generation airframe• Next phase: control electronics
– P09233: Aircraft Controls, initial interface work– P09122: MAV II, highly successful integration
• Extend previous efforts to increase system flexibility, ease of integration, configurability
• Harris Corporation, RF Division
P10236 Introduction
Our Objective
• A control electronics product that:– Provides a processing core on which to run control
code from compiled Simulink control models– Interfaces with a configurable variety of I/O
sensors and peripherals for multiple vehicle types– Is highly modular: measurement, filtering,
processing, and command functions being separable and independent, but easily integrated
– Is accurate, “black box” package, highly flexible
P10236 Introduction
Deliverables
• A control unit to store and run Simulink code• Highly modular unit that is easy to implement in
multiple or at least in the RIT UAV • Design and Programming Documentation
P10236 Introduction
UAV- 09233
• Ambitions were to measure GPS, velocity, altitude, roll, yaw, pitch, and power consumption
• Full IMU and control system were never planned on being developed
• Microcontroller approach– Could have worked
Project and Family History
Problems
• Team lacked programming experience to implement things on the MCU
• MCU Dev board was damaged while attempting to fit it in their case
• Group was unable to read samples from IMU, and was unable to write GPS data to SD card reliably
Project and Family History
Lessons learned
• An MCU approach is feasible and should be considered
• Care should be taken when modifying prebuilt board or laying out a custom board
• Team had a decent sensor outfit• Enclosure was engineered very well
Project and Family History
MAV2 - P09122
• Took softcore on FPGA approach– One core devoted to gathering data from sensors
(GPS, IMU)– Other core devoted to running control system
code and outputting actuator commands• Control system was meant to stabilize flight controls
• Designed gimbal to test sensor data• Control system was modeled and exported
from Simulink
Project and Family History
Problems
• Autocode generator didn’t generate code that could be compiled and ran on their softcore
• Precision and fixed point architecture conflicted with Simulink’s expectations of a target architecture
Project and Family History
Lessons Learned
• FPGA solution is feasible• Split softcore approach is of interest• Architecture and compiler toolchain should be
selected to be compatible with Realtime Workshop generated code
Project and Family History
Other projects
• Data Acquisition P09311 explored, but scope and objectives fundamentally different.
Project and Family History
Customer NeedsEngineering Specs
• (See EDGE_MASTER_SHEETS.xls– Customer Needs Tab (“1”)– Engineering Metrics Tab (“5”)– Needs to Metrics Mapping Tab (“5b”)
P10236 – Versatile Adaptive ControllerP09233 – Airframe Measurements
P10231 – Airframe Telemetry
Measurement Unit (MU)
•FPGA / DSP / MC•Input: Known Type•Output: Known Comm Protocol
Actuator Unit (AU)Controller Unit (CU)
ServoCmd_1
ServoCmd_2
ServoCmd_3
ThrottleCmd
e.g.
GPSIMUTachAltitude
e.g.
ServoPos_2
Motor CurrServoPos_3
ServoPos_1
Battery Volt
INPUTS
DigitalSerialAnalogAnalog(PWM)(PWM)(PWM)AnalogAnalog
CameraLink (or CCD)
•FPGA / DSP / MC•Matlab / Simulink Autocode•Internal DAQ (SD card)
External Simulink Code Interface
Telemetry• FPGA / DSP / MC
• Measurements• Imagery• Measurements• Imagery
• Measurements• Imagery• Int. Control Variables• Actuator Commands
• Measurements• Imagery• Int. Control Variables• Actuator Commands
Ground Commands• Waypoints• Servo Cmds.• Take Image
Ground Commands• Waypoints• Servo Cmds.• Take Image
Imagery
DAQ• NIDAQ• Direct USB
Universal Control System for Autonomous Vehicle Applications
Receive: Display Vehicle Info (GPS, etc.)Receive: Display Vehicle ImagesInternal: Test Control AlgorithmsTransmit: Vehicle Actuator CommandsTransmit: Vehicle Waypoint DestinationsTransmit: Vehicle Imagery Requests
Field PC• GUI •Labview• Matlab• Visual Studio
Digital
Digital
Digital
Digital
Analog
Analog
•FPGA / DSP / MC• Input: Known Comm Protocol• Output: Known Type•Control Switch Capable of Ground or Onboard Control
P09235: Aircraft PayloadP09561: Visible Spectrum Imaging System
Comm.Protocol
Comm.Protocol
Comm.Protocol
Comm.Protocol
Internal DAQ• SD cardInternal DAQ
• SD card
Harris’ Proposal
Name Description
T.J. Bordelon's Autonomous EZ-STARHobby plane with onboard IMU. All control is done on ground station http://bordelon.net/ezstar.html
Microbot APS Platform
Reconfigurable autopilot platform. Uses 32-bit RISC processor for control and a separate FPGA for configurable IO http://www.microboticsinc.com/rc_uav
_autopilot.html?gclid=CIPky9i4jZoCFQoMDQodYShJFg
autopilot.sourceforge.netOpen source hobby helicopter autonomy. All control is processed on-board using an AVR Mega103. http://autopilot.sourceforge.net/prototy
pe.html
rc-autopilot.deRC airplane/helicopter. Basic autonomy is proposed using a PIC microcontroller. No flight tests to date. http://rc-autopilot.de/wiki/index.php/RC
_Helicopter_Autopilot#HardwareAutopilot Hardware for an Autonomous Helicopter
Used Rabbit controller alongside an FPGA for configurable interfaces to sensors and other peripherals
http://crrl.poly.edu/~tlng/Autopilot/AP.html
ViacopterMulti-Rotor custom helicopters. Ground station for flight control. http://vicacopter.com/index.php
Rotomotion UAV Helicopter Controller Commercial UAV controller. Fully autonomous systemhttp://www.rotomotion.com/prd_UAV_CTLR.html
DJI XP3.1Commercial helicopter autopilot. No further architectural information available.
http://www.dji-innovations.com/en/pro_frame.html
External Projects
Concept DevelopmentSee HIGH_LEVEL_SYSTEM_CONCEPTS.xlsBrainstorm tab is firstSubsequent tabs for each subcategory
P10236 Introduction
UAV Completion
P10236 Introduction
System Level Design
P10236 Introduction
I/O Control Concepts
Concept I:
Many microcontrollers FPGA cores
Concept II:
Single microcontroller FPGA core
Risk Assessment
• (Master Planning Spreadsheets xls)
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