Post on 19-Jun-2015
Small Scale UAV with Birotor Configuration
Small Scale UAV with BirotorConfiguration
F. S. Goncalvesa, J. P. Bodanesea, R. Donadela, G. V. Raffob, J. E.Normey-Ricoa, L. B. Beckera
a Department of Automation and SystemsFederal University of Santa Catarina - Brazil
b Department of Electronic EngineeringFederal University of Minas Gerais - Brazil
The 2013 International Conference on Unmanned Aircraft Systems,May 30, 2013
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 1
Small Scale UAV with Birotor Configuration
Outline
1 Introduction
2 Methodology
3 Model the Physical Processes (Step 2)
4 Hardware Specification (Step 6)
5 System Modelling (Step 3)
6 Conclusions and Future Works
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 2
Small Scale UAV with Birotor Configuration
Introduction
Outline
1 Introduction
2 Methodology
3 Model the Physical Processes (Step 2)
4 Hardware Specification (Step 6)
5 System Modelling (Step 3)
6 Conclusions and Future Works
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 3
Small Scale UAV with Birotor Configuration
Introduction
IntroductionProposed UAV Description
Base station possible actions:
⇒ Configure a mission.
⇒ Start an autonomous flight.
⇒ Abort a mission.
⇒ Monitor flight information.
⇒ Perform verification tests inthe UAV.
The UAV has 3 operation modes:
⇒ Autonomous flight mode.
⇒ Safe mode.
⇒ Maintenance mode.
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 4
Small Scale UAV with Birotor Configuration
Introduction
IntroductionProposed UAV Description
Base station possible actions:
⇒ Configure a mission.
⇒ Start an autonomous flight.
⇒ Abort a mission.
⇒ Monitor flight information.
⇒ Perform verification tests inthe UAV.
The UAV has 3 operation modes:
⇒ Autonomous flight mode.
⇒ Safe mode.
⇒ Maintenance mode.
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 4
Small Scale UAV with Birotor Configuration
Introduction
Introduction
Motivation
⇒ Absence of a guide/tutorial for building the UAV;
⇒ Existing aircrafts are a black blox;
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 5
Small Scale UAV with Birotor Configuration
Introduction
IntroductionTiltrotor UAV
Physical System
⇒ Rotors can tilt longitudionally
⇒ Fixed tilt angle laterally
⇒ Center of mass displaced in the Z axis
System’s characteristics
⇒ Underactuated mechanical systems
⇒ Highly nonlinear and time varyingbehavior
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 6
Small Scale UAV with Birotor Configuration
Introduction
IntroductionPaper’s Goals
Describe the design methodology used to guide the project;
Present a preliminary mathematical model of the forces and torquesthat generate the montion of the UAV;
Detail the embedded computing platform;
Presents and discusses the computational model created to representthe design and support simulation activities.
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 7
Small Scale UAV with Birotor Configuration
Methodology
Outline
1 Introduction
2 Methodology
3 Model the Physical Processes (Step 2)
4 Hardware Specification (Step 6)
5 System Modelling (Step 3)
6 Conclusions and Future Works
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 8
Small Scale UAV with Birotor Configuration
Methodology
Methodology
”A model-based design methodology for cyber-physical systems.”,published by J. Jensen, D. Chang, and E. Lee.
The methodology consists of 10 steps:
⇒ Step 1: State the Problem
⇒ Step 2: Model the Physical Processes
⇒ Step 3: Characterize the Problem
⇒ Step 4: Derive a Control Algorithm
⇒ Step 5: Select Models of Computation
⇒ Step 6: Specify Hardware
⇒ Step 7: Simulate
⇒ Step 8: Construct
⇒ Step 9: Synthesize Software
⇒ Step 10: Verify, and Validate, and Test
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 9
Small Scale UAV with Birotor Configuration
Methodology
Methodology
”A model-based design methodology for cyber-physical systems.”,published by J. Jensen, D. Chang, and E. Lee.
The methodology consists of 10 steps:
⇒ Step 1: State the Problem
⇒ Step 2: Model the Physical Processes
⇒ Step 3: Characterize the Problem
⇒ Step 4: Derive a Control Algorithm
⇒ Step 5: Select Models of Computation
⇒ Step 6: Specify Hardware
⇒ Step 7: Simulate
⇒ Step 8: Construct
⇒ Step 9: Synthesize Software
⇒ Step 10: Verify, and Validate, and Test
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 9
Small Scale UAV with Birotor Configuration
Methodology
Methodology
”A model-based design methodology for cyber-physical systems.”,published by J. Jensen, D. Chang, and E. Lee.
The methodology consists of 10 steps:
⇒ Step 1: State the Problem
⇒ Step 2: Model the Physical Processes
⇒ Step 3: Characterize the Problem
⇒ Step 4: Derive a Control Algorithm
⇒ Step 5: Select Models of Computation
⇒ Step 6: Specify Hardware
⇒ Step 7: Simulate
⇒ Step 8: Construct
⇒ Step 9: Synthesize Software
⇒ Step 10: Verify, and Validate, and Test
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 9
Small Scale UAV with Birotor Configuration
Model the Physical Processes (Step 2)
Outline
1 Introduction
2 Methodology
3 Model the Physical Processes (Step 2)
4 Hardware Specification (Step 6)
5 System Modelling (Step 3)
6 Conclusions and Future Works
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 10
Small Scale UAV with Birotor Configuration
Model the Physical Processes (Step 2)
Mathematical Modeling for Control Purposes
FRR =
[0 0 fR
]F LL =
[0 0 fL
]
FBR =
f BRxf BRyf BRz
=
−sin(αR)cos(β)sin(β)
cos(αR)cos(β)
fR (1)
FBL =
f BLxf BLyf BLz
=
−sin(αL)cos(β)−sin(β)
cos(αL)cos(β)
fL (2)
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 11
Small Scale UAV with Birotor Configuration
Model the Physical Processes (Step 2)
Mathematical Modeling for Control Purposes
FRR =
[0 0 fR
]F LL =
[0 0 fL
]
FBR =
f BRxf BRyf BRz
=
−sin(αR)cos(β)sin(β)
cos(αR)cos(β)
fR (1)
FBL =
f BLxf BLyf BLz
=
−sin(αL)cos(β)−sin(β)
cos(αL)cos(β)
fL (2)
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 11
Small Scale UAV with Birotor Configuration
Model the Physical Processes (Step 2)
Mathematical Modeling for Control Purposes
FRR =
[0 0 fR
]F LL =
[0 0 fL
]
FBR =
f BRxf BRyf BRz
=
−sin(αR)cos(β)sin(β)
cos(αR)cos(β)
fR (1)
FBL =
f BLxf BLyf BLz
=
−sin(αL)cos(β)−sin(β)
cos(αL)cos(β)
fL (2)
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 11
Small Scale UAV with Birotor Configuration
Model the Physical Processes (Step 2)
Mathematical Modeling for Control PurposesTorque around Z axis
τψ = τfRx + τfLx + τRzdrag + τLzdrag
τψ = (f BRx − f BLx)l + kτ (Ω2Rcos(αR) − Ω2
Lcos(αL))cos(β)
τψ = [(sin(αL)fL − sin(αR)fR)cos(β)l + kτ (Ω2Rcos(αR)
− Ω2Lcos(αL))cos(β)
(3)
Torque around Z axis.
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 12
Small Scale UAV with Birotor Configuration
Model the Physical Processes (Step 2)
Mathematical Modeling for Control PurposesTorque araund Y axis
τθ = τfRx + τfLx + τRydrag + τLydrag
τθ = (f BRx + f BLx)rz + kτ (Ω2R − Ω2
L)sin(β)
τθ = −(sin(αR)fR + sin(αL)fL)cos(β)rz
+ kτ (Ω2Rcos(αR) − Ω2
Lcos(αL))sin(β)
(4)
Torque around Y axis.Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 13
Small Scale UAV with Birotor Configuration
Model the Physical Processes (Step 2)
Mathematical Modeling for Control PurposesTorque araund X axis
τφ = τfRz + τfLz + τRxdrag + τLxdrag
τφ = (f BLz − f BRz)cos(γ)l′
+ kτ (Ω2Lsin(αL) − Ω2
Rsin(αR))cos(β)
τφ = (cos(αL)fL − cos(αR)fR)cos(β)cos(γ)l′
+ kτ (Ω2Lsin(αL)
− Ω2Rsin(αR))cos(β)
(5)
Torque around X axis.Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 14
Small Scale UAV with Birotor Configuration
Hardware Specification (Step 6)
Outline
1 Introduction
2 Methodology
3 Model the Physical Processes (Step 2)
4 Hardware Specification (Step 6)
5 System Modelling (Step 3)
6 Conclusions and Future Works
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 15
Small Scale UAV with Birotor Configuration
Hardware Specification (Step 6)
System ArchitectureAutonomous Flight Support Equipment
Specified hardwares to meetthe requirements
⇒ Inertial Measurement Unit(IMU)
⇒ Global Positioning System(GPS)
⇒ Ultrasonic sensor
⇒ Brushless motor andpropeller (rotor)
⇒ Servomotor
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 16
Small Scale UAV with Birotor Configuration
Hardware Specification (Step 6)
System ArchitectureEmbedded Platform
Features considered for the developmentplatform:
⇒ Performance
⇒ Communication interfaces
⇒ Size
⇒ Support for wireless communication
⇒ Low Cost
Chosen platform: Beaglebone
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 17
Small Scale UAV with Birotor Configuration
Hardware Specification (Step 6)
System ArchitectureCommunication Structure
MRF24J40MC
⇒ Produced by Microchip;
⇒ Implements the 2.4 GHz IEEE 802.15.4;
⇒ Range up to 4000 ft.
⇒ Uses the Serial Peripheral Interface (SPI) ascommunication protocol;
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 18
Small Scale UAV with Birotor Configuration
Hardware Specification (Step 6)
System ArchitectureCommunication Structure
Communication layers structure
PHY
MAC
6LowPanAdaptation Layer
IPv6
Transport
Applications
MRF24J40MC
Kernel Space
User Space
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 18
Small Scale UAV with Birotor Configuration
System Modelling (Step 3)
Outline
1 Introduction
2 Methodology
3 Model the Physical Processes (Step 2)
4 Hardware Specification (Step 6)
5 System Modelling (Step 3)
6 Conclusions and Future Works
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 19
Small Scale UAV with Birotor Configuration
System Modelling (Step 3)
Simulink Model
Main structure
Base station
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 20
Small Scale UAV with Birotor Configuration
System Modelling (Step 3)
Simulink Model
Main structure
Base station
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 20
Small Scale UAV with Birotor Configuration
System Modelling (Step 3)
Simulink ModelUAV Model
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 21
Small Scale UAV with Birotor Configuration
System Modelling (Step 3)
Simulink ModelUAV Model
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 21
Small Scale UAV with Birotor Configuration
System Modelling (Step 3)
Simulink ModelUAV Model
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 21
Small Scale UAV with Birotor Configuration
System Modelling (Step 3)
Simulink ModelUAV Model
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 21
Small Scale UAV with Birotor Configuration
System Modelling (Step 3)
Simulink ModelUAV Model
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 21
Small Scale UAV with Birotor Configuration
System Modelling (Step 3)
Data Processing Subsystem
Composed of the sensors, actuators and the transformation of theraw data to the measurement unit expected of each component
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 22
Small Scale UAV with Birotor Configuration
System Modelling (Step 3)
Data Processing Subsystem
Composed of the sensors, actuators and the transformation of theraw data to the measurement unit expected of each component
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 22
Small Scale UAV with Birotor Configuration
System Modelling (Step 3)
Data Processing Subsystem
Transformation of the raw data
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 23
Small Scale UAV with Birotor Configuration
System Modelling (Step 3)
Continous Control Subsystem
Continous Control Subsystem
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 24
Small Scale UAV with Birotor Configuration
Conclusions and Future Works
Outline
1 Introduction
2 Methodology
3 Model the Physical Processes (Step 2)
4 Hardware Specification (Step 6)
5 System Modelling (Step 3)
6 Conclusions and Future Works
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 25
Small Scale UAV with Birotor Configuration
Conclusions and Future Works
Conclusions and Future Works
Paper contribution:
⇒ Building the airframe;
⇒ Covering the methodologysteps on the project;
⇒ Communicating the sensorswith the embedded platform
⇒ ProVant website http:
//provant.das.ufsc.br;
Future work:
⇒ Design and validation ofdifferent control strategies;
⇒ Real-time behavior on thecomputation platform;
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 26
Small Scale UAV with Birotor Configuration
Conclusions and Future Works
Conclusions and Future Works
Paper contribution:
⇒ Building the airframe;
⇒ Covering the methodologysteps on the project;
⇒ Communicating the sensorswith the embedded platform
⇒ ProVant website http:
//provant.das.ufsc.br;
Future work:
⇒ Design and validation ofdifferent control strategies;
⇒ Real-time behavior on thecomputation platform;
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 26
Small Scale UAV with Birotor Configuration
Conclusions and Future Works
Team
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 27
Small Scale UAV with Birotor Configuration
Conclusions and Future Works
Thank you for your attention
Questions?
Contacts
goncalves@das.ufsc.brlbecker@das.ufsc.br
Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 28