Upload
chetan-pawar
View
235
Download
0
Embed Size (px)
Citation preview
8/12/2019 Syntech Cdr
1/33
8/12/2019 Syntech Cdr
2/33
The ASD is an AerialSurveillance Dronethat is designed for useby corporate or
military projects. The ASD provides
advancedreconnaissance andmuch needed intel ontactical locations.
Autonomous dronesare expendable.
8/12/2019 Syntech Cdr
3/33
8/12/2019 Syntech Cdr
4/33
8/12/2019 Syntech Cdr
5/33
Fully constructed quad-copter
with limited capability.
This includes:
Designed and constructed
frame and test area
Hover function
Balance function
8/12/2019 Syntech Cdr
6/33
Fully constructed and functional quad-
copter
This includes:
Hover and Balance functionality
Turn left/right
Ascend DescendWireless communication established
8/12/2019 Syntech Cdr
7/33
A completed quad-copter with mounted
camera and fully autonomous
functionality.
8/12/2019 Syntech Cdr
8/33
Daniel
PCB DesignCore circuit designPeripheral designV1 and V2 board layout
Power SystemsPrimary and auxiliarypower design
RyanSoftwareAlgorithm developmentSoftware development
Hardware
Motor mount designProp mountingMaterial testing
KenSoftwareLead software designSoftware developmentAlgorithm design
HardwareFrame designMaterial research
TravisPCB DesignCore circuit designPeripheral designCircuit construction
SoftwareSoftware development
Test DesignTest area designTest data collection
AndyDocumentationand Budget
CDR compilation.Resource trackingTimesheet upkeep
HardwareFrame construction
Test DesignConstruct test area
8/12/2019 Syntech Cdr
9/33
Bought Items Part Qty Cost Total+tax
LiPo Balance Charger EXTR7595 1 42.89 42.89
EDF Outrunner motor HK90132 1 9.99 9.99
Brushless heli motor TP2415-07T 1 11.99 11.99
Turnigy EDF Outrunner T26101C4000 1 13.45 13.45
GWS EP Propeller 127x76mm 6pc. GWS-DD-5030 1 3.4 3.4
Thunder Power 2250 mAh LiPoly LP-TP2250-3SP30 2 57.99 115.98
Tenergy LiPo Battery Tester 1 16.24 16.24
Heli Series ESC (motor driver) 1 15.12 15.12
E-Flite Balance Adapter Cables EFLA229 1 7.99 7.99balancer connectors 3 3.25 9.75
PVC40 PIPE and Tees 1 38.04 38.04
Nets 3 14.99 44.97
Motor Collars 3 2.59 7.77
Tax 1 4.38 4.38
Xbee Explorer USB WRL-98687 1 24.95 24.95
Arduino Uno SMD DEV-10356 1 36.05 36.05
Inclinometer Dual 1G 551-1003-1-ND 1 64.62 64.62
IC MCU AVR32 AT32UC3B0256 2 12.52 25.04
Xbee Antenna Chip XB24-ACI-001-ND 2 19 38
IC 3 axis accelerometer 497-8549-ND 2 5.12 10.24
40 MHz Crystal 18PF 535-10650-1-ND 2 1.65 3.3
shipping and tax 1 9.58 9.58
Carbon Fiber Tube SM4548F 1 44.55 44.55
shipping and tax 1 15 15
Carbon Fiber Sheet WCC-T0151116 1 22.99 22.99
8/12/2019 Syntech Cdr
10/33
The total Spent amount for the
quad copter test and build is at
$932.75 of the asked for $1100.
We are finished in buying the
critical components except for
the printed PCB.
8/12/2019 Syntech Cdr
11/33
8/12/2019 Syntech Cdr
12/33
AT32UC3B0256
AVR32 Architecture
32kB Program
Memory 256kB Flash Memory
USB Bootloader
Up to 66MHz Clock
8/12/2019 Syntech Cdr
13/33
General Purpose IO
44 GPIO Pins
Secondary
Functions PWM Output
SPI Bus
USB Interface
Analog to DigitalConverter
USART
8/12/2019 Syntech Cdr
14/33
XBee
Indoor Range30m
2.4 GHz Operating
frequency TX Current45mA
Rx Current50mA
UART Interface
3.3V SupplyRequired
8/12/2019 Syntech Cdr
15/33
Ping))) UltrasonicDistance Sensor
2cm3m
30mA supply current 5V Supply
Timed ResponsePulse
Only requires one IOpin
8/12/2019 Syntech Cdr
16/33
8/12/2019 Syntech Cdr
17/33
8/12/2019 Syntech Cdr
18/33
8/12/2019 Syntech Cdr
19/33
Main functions (Purple) demo(): calls the control
and led functions in aspecified order to demothe capabilities of thequadcopter
patrol(): similar to demobut will follow thebeacons for navigation
remote(): handles remotecontrol input
kill(int killSig): shuts off all
operations immediately ifthe killSig variable is true
launch(): launchsequence
land(): landing sequence
LED functions (Red) blink(int led): sets the
selected led to blink on(int led): turns on
selected led
off(int led): turns offselected led
Motor functions (Blue) mControl(int motor, int
speed): sets the motor tothe speed given by
changing thecorresponding mArray[]index
8/12/2019 Syntech Cdr
20/33
Control functions (Grey)
zMove(int alt): move togiven altitude alt
xMove(int dist): move in
the x direction to givendistance dist
yMove(int dist): move inthe y direction to givendistance dist
rotate(int deg): rotate
by given degree value hover(): sets the copter
into hover mode
balance(): constantlyadjusts the copters setcalibration variables setby the calArray[]
xAdj(): changescalArray[0] if needed
yAdj(): changescalArray[1] if needed
zAdj(): changescalArray[2] if needed
iAdj(): changescalArray[3] if needed
jAdj(): changescalArray[4] if needed
8/12/2019 Syntech Cdr
21/33
Sensor functions (Yellow) altRead(): reads altitude xRead(): reads x
acceleration yRead(): reads y
acceleration zRead(): reads z
acceleration iRead(): reads tilt in i jRead(): reads tilt in j
Wireless Com functions(Green)
rxLED(): handles rx from LEDMode button, cyclesthrough on, blink, and off
rxKill(): handles requests fromkill switch, sets killSig to 1 (0 isno kill sig)
rxHover(): handles requestsfrom hover, overides allcommands and calls hover()
rxLR(): handles requests fromLeft and Right buttons rxUD(): handles requests
from Up and Down buttons rxFB(): handles requests from
Forward and Backwardbuttons
rxLL(): handles launch andland requests
8/12/2019 Syntech Cdr
22/33
8/12/2019 Syntech Cdr
23/33
Main body
2 carbon fiber plates
IC board mounted to
top Mounting Hardware
4-40 screw size
4 standoffs (plastic)
4 spacers (plastic) 4 nuts (plastic)
12 arm mount screws
8/12/2019 Syntech Cdr
24/33
Battery
Mounted inbetween plates
Arm mounts Delrin (Acetal)
Arms
Carbon fiber tube.45
6 (5 pictured)
8/12/2019 Syntech Cdr
25/33
Motor Mounts
Delrin (Acetal)
High strength and
rigidity Light weight
Motors mounted oninside of tube
8/12/2019 Syntech Cdr
26/33
Motors
Mounted throughthe lid of a box
Tested the I-Vcharacteristics
I-V graph is forunloaded motor
0
200
400
600
800
1000
1200
1400
80 100 120 140 160 180
PWM signal
I-V Vs. PWMV(mV)
I(mA)
8/12/2019 Syntech Cdr
27/33
Motors
We used atachometer to
measure RPM RPM chart for
loaded motor
y = 396.74x - 36133
R = 0.9676
6000
7000
8000
9000
10000
11000
12000
106 108 110 112 114 116 118 120 122
RPM
PWM signal
RPM Vs. PWM
8/12/2019 Syntech Cdr
28/33
5 foot cube madefrom PVC pipe
Cube will be
surrounded by a net Quadcopter will be
tethered to theground
8/12/2019 Syntech Cdr
29/33
Balance testing
A stand will holdtwo opposing arms
in place The other arms are
free to move.
This allows foractuation in one
plane We can use this to
hone in balancecontrol
8/12/2019 Syntech Cdr
30/33
Broken components
We ordereddoubles of most
Over budget Remove camera
Structural failure
Evaluate material
choices
Controller failure
Adjust schedule forrevision
Arduino last resort Controllability
Expect major delays
Test cage for safety
8/12/2019 Syntech Cdr
31/33
8/12/2019 Syntech Cdr
32/33
8/12/2019 Syntech Cdr
33/33