2011-2012 EG2002 - Engineering Design

Second Year Project

Phuc Phung Te

Design 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).

Unmanned Aerial Vehicle

CDIO Engineering Design Process

Conceive
Establish context of exercise Specify design With justifications

Design

Implement
Produce Documentation

Operate
Test Components individually

Identify complexity

Produce Components

Test completed design

Generate Concepts

Evaluate and Improve design!

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 and movement in the remaining translational axis.

Note: 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 analogue voltage outputs .

Design Limitations
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!

Initial Concepts

My Initial 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 upward thrust 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.

Joes 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.

Rating and Weighting Table

Features Controlled Hovering Controlled Flight Ultra-light Chassis Motor/Driver Controller Orientation Sensor Control Algorithms Aesthetics Size (Must fit inside the envelope.) Attachment Power Budget Manufacturing Durability/Reliability Safety Cost Budget Weighting 10 10 8 7 8 10 1 7 8 7 6 7 10 6 Rating 1 7 8 5 6 7 6 4 4 7 8 6 8 5 7 2 6 8 4 6 8 6 4 5 7 8 7 7 5 4 3 5 6 9 6 7 5 7 3 5 5 5 5 7 5 4 7 5 7 6 7 3 8 5 6 3 8 7 7 8 5 8 6 5 6 7 5 4 4 6 8 9 8 7 6 8 7 5 6 7 7 6 5 5 5 6 8 7 7 8 6 3 6 7 5 5 4 8 4 6 9 10 2 Weight*Rating 1 70 80 40 42 56 60 4 28 56 56 36 56 50 42 66 1 2 60 80 32 42 64 60 4 35 56 56 42 49 50 24 63 9 3 50 60 72 42 56 50 7 21 40 35 30 35 70 30 59 3 4 70 50 56 42 56 30 8 35 48 21 48 49 70 48 64 6

Key 1 2 3 4 5 6 7

Choi, Yong Seog Al-Ajmi, Saif Jones, Joshua Cherryman, Joseph Robert McCormick, Scott Te, Phuc Yu, Ruoyang

5 80 60 40 42 56 50 4 28 48 56 54 56 70 30 66 9

6 80 70 40 42 56 70 6 35 40 35 36 56 70 24 63 5

7 80 60 24 42 56 50 5 28 64 28 36 63 10 0 12 64 3

5 4 Total

SubSub-Tasks 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

Allocation of Tasks
2nd Year Undergraduate Task Lead LabView Programming (Control System) & Electrical Application

Te, P Yu, R

- Work all Electrical calculations required for the project -Research motors -In charge of selection and design of electrical components -Assist Phuc with LabView -Assist Joseph with electrical calculations -Research appropriate sensors -Assist Phuc with LabView -Assist Ruoyang with selection and assemble of electrical components. -Design Main Propulsion system with calculations -Design/find guards for propellers

Cherryman, J McCormick, S Choi, Y Al-Ajmi, S Jones, J

-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. -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 -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

Control System
Inputs
DOF- Height (arm) DOF-Sweep (arm) National Instruments (sbRIO) Single Board embedded computer

Process
Motor Controller

Output
Motor/Rotor Motor/Rotor Motor/Rotor

DOF- Roll X (Accelerometer) DOF- Roll Y (Accelerometer)

Motor Controller Motor/Rotor

DOF- Roll Z ?? (Accelerometer)

National Instruments LabView

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).

Motor Controller
Dual 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)

Accelerometer
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:1 Low pass filter Size - 23x26mm Weight - 5 grams!

5g 2g 4g 6g

Note: The voltage is a ratio to the measured acceleration and to the supply voltage (ratiometric).

Fight Stability Algorithm

Control Algorithms
Accelerometer input - X axis

Algorithm will repeat/loop continuously in the Real Time System

Accelerometer input - Y axis

Accelerometer input - Z axis

Yes

Is the Accelerometer reading = Calibrated Value ?

No

End

Increase/Decrease frequency of Motor relating to the affected Accelerometer reading by step of F*(AccR/C)

Navigational Control,Algorithm

Control Algorithms
PotentiometersHeight (arm) User inputRequired Height
Is the Measured Height = Required Height?

Algorithm will repeat/loop continuously in the Real Time System

No

Increase/Decrease frequency of All Motors

Yes PotentiometersSweep (arm) User inputRequired Sweep

End
Change the Calibrated Value in the Fight Stability Algorithm to tilt the UAV in direction needed.

Is the Measured Height = Required Height?

No

Second Year UAV Project To be continued in 2012

Questions ?