MAV Control System Project # P09122. Erik Bellandi – Project Manager Ben Wager – Lead Engineer Garrett Argenna – Mechanical Engineering Michael Pepen – Electrical Engineering Tahar Allag – Electrical Engineering Ramon Campusano – Computer Engineering Stephen Nichols – Computer Engineering. - PowerPoint PPT Presentation
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EDGE™
MAV Control SystemProject # P09122
Erik Bellandi – Project ManagerBen Wager – Lead Engineer
• Concept Development– Control System– Logic Controller– Sensors– Test Stand
• Future Work
• Risk Assessment
EDGE™
Background
• Past – Focused on small scale
surveillance.
• Future– MAV rules have changed so
now focus is on autonomy with small size being secondary.
– Fly autonomously indoors and outdoors
– Goal is to compete in the EMAV 2010 competition
MIT Autonomous UAV Aerobatics Project
MAV 2006 Model
EDGE™
Project Planning
EDGE™
Project Overview & Deliverables
Product Description / Project OverviewTo design and build a flight control system for the Micro Aerial Vehicle, that will most quickly lead to a fully autonomous system.
Key Business Goals / Project Deliverables Primary Goals:– Make the MAV as autonomous as possible.
• Stabilize Flight• Adaptable• Fully Tested and Integrate with Platform
Secondary Business Goal:– Able to compete in the 2010 EMAV Competition.
EDGE™
Identify Customer Needs
Needs Hierarchy1. Control Capability
1. Be as autonomous as possible.2. Create a stable flight.
1. Command the control surfaces appropriately.3. Have a video relay system.4. Process data from all inputs..
2. Adaptability1. Calibrated for the platform characteristics.2. Compensate for environmental conditions.3. Compensate for various payloads.4. Have interchangeable sensors.
3. Receive Inputs1. Work simultaneously with remote input.2. Measure the current conditions.3. Have GPS capability.
4. Weight and Size1. Be light weight2. Fit within MAV platform
5. Independence1. Be independent of the platform.
EDGE™
Identify Customer NeedsRelative Importance of Needs (1=Highest)
# Need Needs To Importance
1.1 Autonomous as Possible As many autonomous functions as resources permit
7
1.2 Create Stable Flight Compensate for instability 1
1.2.1 Command Surfaces Move Surface appropriate direction and amount 1
1.3 Video Relay Capture and relay surroundings to fly remotely 10
2.1 Process Data Receive Data and determine action 4
2.2 Calibrated for platform Control based on Aerodynamics of platform 8
2.3 Compensate for Environment
Correct and Recover from environmental disturbance
3
2.4 Compensate for Payload Adjust aerodynamics based on payloads 11
2.5 Interchangeable Sensors Upgradeable and Replaceable 12
3.1 Simultaneous with Remote Work concurrently and assist during remote input
5
3.2 Measure Conditions Collect data of all in-flight conditions 2
3.3 GPS Capability Measure and program position 13
4.1 Light Weight Minimize weight <0.5kg 9
4.2 Fit with MAV Platform All onboard components must fit within platform 9
5.1 Independent from platform Not reliant on other projects, configurable and testable
6
EDGE™
Establish Target Specifications
List of MetricsNumber Metric Importance Units
1 Recover from 5mph gust 4 Mph, m/s
2 Fly straight and level within a meter over a distance of 50 m
5 m, ft
3 Have at least 6 changeable parameters 8 #
4 Weight less then 0.5 kg. 7 kg, lb
5 Fit within MAV platform 2.25”x2.25”x8” 6 in, cm
6 All testing matrices completed 1 #
7 Receive and process remote signal 2 Y/N
8 Transmit data to ground unit 9 List
9 Process and use data from all sensors 3 Y/N – List
10 Determine it’s position within 1 meter 10 m, ft
11 Fly a designated pattern within 2 meters 11 m, ft
EDGE™
Concept Development
EDGE™
Overall System Architecture
EDGE™
Control System Concept
• Requirements:– Receive All Inputs (Pilot Input & Sensor Input)– Create Stable Flight– Command Surfaces (Elevons, Elevator, Rudder & Thrust)– Compensate for Environment (Disturbance)– Adaptable for Different Platforms
• Concept: PID Feedback Control for Each Input
EDGE™
Overall Control System Concept
PID Feedback Control for Each Input
out
State Outputs
In1Out1
Sensor Models
Commands Plane States
Plane Dynamics Model
PID
PID Controller for each input
In1Out1
Conversions
in
Command Inputs
Logic Controller Functions
EDGE™
Preliminary System Model
Logic Controller Functions
EDGE™
Flight Dynamics Model
EDGE™
Logic Controller
• Selection Criteria– Control Capability
– Adaptability– Inputs Receivable– Weight & Size– Cost– Complexity– Time to get working
EDGE™
Logic Controller
• Concepts– Last Year’s O-Navi Controller– Purchase different commercial fully developed board– Design and build from parts
O-Navi Microcontroller
EDGE™
Logic Controller Design
• Logic Controller Design Concepts– MCU only– MCU and FPGA– FPGA only