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2011-2012 EG2002 - Engineering Design
Second YearSecond Year ProjectProject
Phuc Phung Te
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Design TaskDesign Task
To conceive, design, implement and operate
a prototype unmanned aerial vehicle (UAV) capable of
semi-autonomous controlled hover and translation with
four degrees of freedom (4DOF).
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UnmannedUnmanned Aerial VehicleAerial Vehicle
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CDIOCDIO Engineering Design ProcessEngineering Design ProcessConceive Design Implement Operate
Establish
context ofexercise
Identifycomplexity
GenerateConcepts
SpecifydesignWith
justifications
ProduceDocumentation
Produce
Components
Test
Componentsindividually
Testcompleted
design
Evaluate andImprove design!
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Conditions & Environment ?Conditions & Environment ?
UAV design has to be mounted onto the end of a
counterbalancing and articulated arm.
The arm design will allow the UAV to rotate in ROLL
and PITCH and translate in the HEIGHT and SWEEP
axis (i.e. 4DOF).
The UAV will be restrained from rotation in YAW andmovement in the remaining translational axis.
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N
ote:2 Potentiometers
are located at the
arm.
This will be the
means of which
position of the UAV
can be measured at
any point in time
via 2 analoguevoltage outputs .
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DesignDesign LimitationsLimitations The UAV design must fit within an envelope of L270 x
W270 x H150mm.
Electrical and electronic components can be mounted
off-board onto a beach top.
UAVs must mount onto the arm through a standardised
bracket.
Cost!
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InitialConceptsInitialConcepts
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MyMy InitialInitial Concept:Concept: The 5 motor UAV concept made from Aluminium
sheets and other extruded parts allowing the UAV
to be easily manufactured out from standard parts.
One centre rotor providing most of the upwardthrust allowing the UAV to have independent
control of the vertical thrust (simple control
algorithms)
UVA will have a total size of 270mm x 270mm which
is the maximum size the UAV can be.
The outer fans are allocated by the outer most
edges and will provide stability in hovering and will
also control the tilt and movement along the
armatures sweep.
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JoesJoes Concept:Concept:
Small, tandem rotor design
Trapezoid case
Vertical motion is controlled by both
rotors operating in tandem
Horizontal motion is achieved by
one rotor providing more thrust
than the other, forcing the UAV to
tilt and therefore move in the other
direction.
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Rating and Weighting TableRating and Weighting TableFeatures Weighting Rating Weight*Rating
1 2 3 4 5 6 7 1 2 3 4 5 6 7
Controlled Hovering 10 7 6 5 7 8 8 8 70 60 50 70 80 80 80
Controlled Flight 10 8 8 6 5 6 7 6 80 80 60 50 60 70 60
Ultra-light Chassis 8 5 4 9 7 5 5 3 40 32 72 56 40 40 24
Motor/DriverController 7 6 6 6 6 6 6 6 42 42 42 42 42 42 42
Orientation Sensor 8 7 8 7 7 7 7 7 56 64 56 56 56 56 56
Control Algorithms 10 6 6 5 3 5 7 5 60 60 50 30 50 70 50
Aesthetics 1 4 4 7 8 4 6 5 4 4 7 8 4 6 5
Size (Must fit inside theenvelope.)
7 4 5 3 5 4 5 4 28 35 21 35 28 35 28
Attachment 8 7 7 5 6 6 5 8 56 56 40 48 48 40 64
Power Budget 7 8 8 5 3 8 5 4 56 56 35 21 56 35 28Manufacturing 6 6 7 5 8 9 6 6 36 42 30 48 54 36 36
Durability/Reliability 7 8 7 5 7 8 8 9 56 49 35 49 56 56 63
Safety 10 5 5 7 7 7 7 10 50 50 70 70 70 70 100
Cost Budget 6 7 4 5 8 5 4 2 42 24 30 48 30 24 12
Total 661
639
593
646
669
635
643
Key
1 Choi, Yong Seog
2 Al-Ajmi, Saif
3 Jones, Joshua
4 Cherryman, Joseph Robert
5 McCormick, Scott6 Te, Phuc
7 Yu, Ruoyang
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SubSub--Tasks for Team ProjectTasks for Team Project Ultra-light UAV chassis: including motor mounts,
sensor mounts, cable runs, coupling onto the
armature, and very importantly propeller guards. Motor driver/controllers
Orientation sensor system and suitable interface to
the control hardware provided.
Algorithms for ensuring controlled flight
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Allocation of TasksAllocation of Tasks2ndYear Undergraduate TaskTe, P Lead LabView Programming (Control System) & Electrical Application
Yu, R - Work all Electrical calculations required for the project-Research motors
-In charge of selection and design of electrical components
-Assist Phuc withLabView
-Assist Joseph with electrical calculations
Cherryman, J -Research appropriate sensors-Assist Phuc with LabView-Assist Ruoyang with selection and assemble of electrical components.
McCormick, S -Design Main Propulsion system with calculations-Design/find guards for propellers
Choi, Y -Assist with Main Propulsion system including calculation-Consider suitable Material selection for Propellers and chassis
-Consider weight budget of UAV and calculate optimum weight for peak performance.
Al-Ajmi, S -Design Chassis Layout-Construct how electrical and mechanical aspects will all interlock and fit together
-In charge of all Solidworks and CAD drawings-Keep track of cost budget
Jones, J -Design Chassis-Construct how electrical and mechanical aspects will all interlock and fit together
-in charge of all Solidworks and CAD drawings- Assist with weight budget of U.A.V. and calculate optimum weight for peak performance
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Control SystemControl SystemInputs Process Output
DOF- Height(arm)
NationalInstruments
(sbRIO)Single Boardembedded
computer
MotorController
Motor/Rotor
DOF-Sweep(arm)
DOF- Roll X
(Accelerometer)
DOF- Roll Y(Accelerometer)
DOF- Roll Z ??(Accelerometer)
MotorController
Motor/Rotor
Motor/Rotor
Motor/Rotor
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NationalNational InstrumentsInstruments LabViewLabView LabView is a graphical programming
environment for scientific and engineering
data gathering and reduction. i.e. Dataflow
programming.
Able to compile for the Freescale CPU
Can be used to create real-time Programs
Real-time
Code / Actions are run dependably in a time
predictable matter - (time constraints).
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Motor ControllerMotor ControllerDual D.C motor driver board
Uses PWM (pulse width modulation) to control
motor speed
Based on L298 full bridge IC
Two independent channels
4A total load current (2A per channel)
25W total power (max)
50V motor supply voltage (max)
Diode protection for inductive loads included
TTL signal compatible (0 to 5V)
Direction control of motor using single hi/low
input(TTL)
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AccelerometerAccelerometer Triple Axis Accelerometer MMA7260Q from
Freescale
This Accelerometer uses 3.3V and outputs an
Analogue Voltage for each of the three outputs(X,Y,Z)
Selectable sensitivity:15g2g4g6g
Low pass filter
Size - 23x26mm
Weight - 5 grams!
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Note: The voltage is a ratio to the
measured acceleration and to the
supply voltage (ratiometric).
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Control AlgorithmsControl Algorithms
Accelerometerinput - X axis
Accelerometerinput - Y axis
Accelerometerinput - Z axis
Is theAccelerometer
reading =Calibrated
Value ?
End
Increase/Decrease frequencyof Motor relating to theaffected Accelerometer
reading by step of F*(AccR/C)
Fight Stability Algorithm
Algorithm will repeat/loop continuously
in the Real Time System
Yes No
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Control AlgorithmsControl Algorithms
Potentiometers-
Height (arm)
User input-Required Height
Is the MeasuredHeight =Required
Height?
Increase/Decreasefrequency ofAll Motors
Potentiometers-
Sweep (arm)
User input-
Required Sweep
Is the MeasuredHeight =RequiredHeight?
Change the CalibratedValue in the Fight Stability
Algorithm to tilt the UAVin direction needed.
End
Navigational Control,Algorithm
Algorithm will repeat/loop continuously
in the Real Time System
No
No
Yes
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SecondSecond Year UAV ProjectYear UAV Project
To be continued in 2012To be continued in 2012
Questions ?Questions ?