Airframe Measurements
description
Transcript of Airframe Measurements
AIRFRAME MEASUREMENTSP09233 – Detailed Design Review
Team Structure Team Lead: Michael Skube – Mechanical
Engineer Co-Team Lead: James Hunt – Mechanical
Engineer Electrical Lead: Joseph Peters – Electrical
Engineer Kevin Li – Electrical Engineer William Atkinson – Mechanical Engineer Heidi Morgan – Electrical Engineer John Isely – Mechanical Engineer
Power – Airframe A On-Board Supply
Airframe Measurement System
MCU
BEC
PCGPS
Pitot Static Tube
Altimeter
IMU
JTAG
Altimeter Control
GPS Control
IMU Control
Serial
Serial
SPI
ADC
14.4V 5V
5V
5V
5V
5V
5V
Additional Electronics
Power – Input Voltages
Device Minimum Vin
Maximum Vin
VinUsed
Micro-controller*
4.5V 10V 5V
GPS 3.3V 5V 5VPitot Static
Tube3.0V 16V 5V
IMU 4.5V 5.5V 5VAltimeter 3.7V 5V 5V*LM1117 – Linear Regulator
Power – CalculationDevice Vin Min
CurrentMax
CurrentMin
PowerMax
PowerMicro-
controller5V .06 mA .11 mA .06 mW .55mW
GPS 5V 33 mA 55 mA 109 mW 182 mWPitot Static
Tube5V 20 mA 30 mA 100 mW 150 mW
IMU 5V 33 mA 57 mA 165 mW 285 mWAltimeter 5V 13 mA 16 mA 65 mW 80 mW Total Power Consumption: : . 439 W – .697 W Airframe A Battery:
14.4 V 2.5 Ampere-hour 36 W-hour
Can supply power for 52 – 82 continuous hours ~100x our expected flight time (40 minutes)
GPS
Variable update rate 1-5 Hz
32 Parallel Channels High Accuracy
~3.3m Small Size
30x30x8.5mm Software:
GPS Locator Utility
GPS – GPS Locator Utility
GPS – Accuracy Test
GPS – Accuracy Test
GPS – Accuracy Test
GPS – Accuracy Test Observations
Number of Satellites: Max: 13 Min: 9 Avg: 10
Percentage of available satellites used: ~83%
Altitude (example from starting point) Google Earth: 524ft GPS: 517ft
~1% error
GPS – Accuracy Test
1 10 19 28 37 46 55 65 74 83 92 101 110 119 12802468
101214161820
Spe
ed (M
PH
)
Sample NumberStop Signs
GPS – Accuracy Test
1 9 17 25 33 41 49 57 66 74 82 90 98 106114122130145
150
155
160
165
170
175Red Barn
Sample Number
Alti
tude
(m)
GPS –Test Plan
Test #1: Accuracy Test Test #2: Time Satellite Fix Test #3: Material Interference Test #4: Orientation effects
Microcontroller
Atmel: AT91SAM7S
Various I/O 2x UART 10 bit ADC SPI
SD Card
IMU
Analog Devices: ADIS16350 6 degrees of freedom
Tri-axis accelerometer X, Y and Z linear
acceleration Tri-axis gyroscope
X, Y and Z angular acceleration
Serial Peripheral Interface (SPI) master (MCU) –slave (IMU)
IMU – Output Registers
Adapted from ADIS16350 Datasheet
IMU – Timing Diagram
Adapted from ADIS16350 Datasheet
SPI Communication: IMU
Example code: x-axis gyro Chip Select is driven
low Address written to
DIN to determine what register is read
Data is read off by MCU
UART Communication: GPS
UART (parallel to serial) controlled
Interrupt to inform MCU new data is available Prevents the
processor from being bogged down
ADC Communication: Initialization
Measure analog voltages and assign digital values to store. 10 bit ADC
1024 digital measurements possible
Measurements Box Design The design space inside Airframe A
required that the MCU be cut down, the change in size is shown below
full size board cut down board
Measurements Box Design
Microcontroller
Altimeter
GPS
Ultrasonic
IMU
Measurements Box In Airframe A
Component Constraints & Dimensions
IMU Requires Specific Mounting Direction Ultrasonic Sensor Mounting on the Exterior Altimeter Requires Static Pressure Inside = Static
Pressure Outside GPS Requires Specific Mounting Direction GPS Requires No Dense Obstructions Pitot Static Tube Mounting Outside of Boundary
Layer Pitot Static Tube Sensor Must be Easy to
Remove
Pitot Static Tube Analysis The Pitot Static tube works off of two
very simple principles, Bernoulli and the Ideal Gas Equation
Bernoulli Equation
Ideal Gas Equation
From this, the speed of the aircraft through the air can be found directly.
Pitot Static Tube Testing
Test #1 – Wind Tunnel Testing in RIT Wind Tunnel
Test #2 – Car Test with Anemometer Test #3 – Time Delay Test on tubing Test #4 – Flight in Airframe A Test #5 – Compare Velocity with GPS
Velocity
Pitot Tube Test Results Test #1 – Small Wind Tunnel at RIT
Anemometer ETS Pitot-Tubem/s mph mph1.0 2.20 0 ~ 21.3 2.86 1 ~ 31.5 3.30 3 ~ 42.0 4.40 4
Spec from ETS states lower limit of 2 mph
Test #1 – Large Wind Tunnel
0 2 4 6 8 10 12 14 16 180
20
40
60
80
100
120
140Pitot TubeHot Wire Probe
Test #2 – Car Test
0 10 20 30 40 50 60 70 800
10
20
30
40
50
60
70
Airspeed SensorAnamometer
Event
Spee
d (m
ph)
Pitot Tube Test Results (cont.) Test #3 – Time Delay Theory
This is based off Pneumatics with a Capacitance and a Resistance
Then a system model can be setup with a step input to find the time delay to the sensor.
Pitot Tube Test Results (cont.) Test #3 – Time Delay Theory
0 20 40 60 80 100 120 140 160 180 2000
1
2
x 10-4
Pressure Drop (Pa)
Mas
s Fl
ow R
ate
(kg/
s)
0 1 2 3 4
x 10-11
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Time (sec)
Mag
nitu
de
P1P2Psensor
R = 1.322e-6 m*sC = 9.332e-7 m*s^2
Pitot Static Sensor Mounting
Pitot Static Tube Mounting
Pitot Static Tube Mounting (cont.)
Altitude Stair Test 1
0 5 10 15 20 25 30 35 40 45 50 55 60 65 70-5
0
5
10
15
20
25
30
35
Eagle Tree
Time (s)
Alti
tude
(ft)
Altitude Stair Test 2
0 25 50 75 100 125 150 175 200-5
0
5
10
15
20
25
30
35
Stair T...
Time (s)
Alti
tude
(ft)
Altimeter cont… Future tests
Vacuum Chamber Use a vacuum chamber to simulate the
pressure drop of high altitude ~10,000 ft
Altimeter vs GPS Compare the GPS and Altimeters readings
Vibration Dampening
Vibration Damping helps to reduce vibrations and shocks to sensors and components
Softness Ratings for our Application 5 - 9 for Foams 35 - 75 for Rubbers
Good or Excellent compression recovery was also selected as it will allow the dampener to have quick energy dissipation.
Sensors and the MCU will use Vibration Foam Sheets The Boxes Mounting Bolts will use Vibration Grommets
Vibration Dampening
Images from McMaster.com
Expenses To Date# Item Model Manufacture Part Number QTY Price Shipped
1 Altimeter ZLOG 3 Digital Products #ZLOG3 1 $ 89.95 $ 93.74
2 Data Recorder eLogger V3 Eagle Tree Systems MPRV3-LEADS-100 1 $ 69.99 $ 77.99
3 Altimeter MicroSensor V3 Eagle Tree Systems ALTIMETER-V3 1 $ 37.99 $ 37.99
4 Airspeed MicroSensor V3 Eagle Tree Systems AIRSPEED-V3 1 $ 42.99 $ 42.99
5 Pitot-Static Tube Pitot-Static Tube Kit Eagle Tree Systems PITOT-KIT-V3 5 $ 9.99 $ 49.95
6 Microprocessor SAM7-256 Board Spark Fun Electronics DEV-00774 2 $ 71.95 $ 153.69
7 GPS 32 Chan San Jose Nav. Spark Fun Electronics GPS-08266 1 $ 99.95 $ 99.95
8 Altimeter Ultrasonic Range Finder Spark Fun Electronics SEN-08504 1 $ 27.95 $ 27.95
9 GPS Break Out Board
Lassen iQ Eval Board - USB Spark Fun Electronics GPS-00168 1 $ 34.95 $ 48.88
10 3/16" X 12" X 12" Foam w/ Adhesive Back, SOFT McMaster 86375K151 3 $ 8.17 $ 24.51
11 1/8" X 1/2" 39' Foam w/ Adhesive Back, SOFT McMaster 93275K12 1 $ 15.84 $ 15.84
12 .25" Dia, .057" Thick Vibration Grommet McMaster 9311K138 2 $ 10.27 $ 20.54
13 1/8" X 12" X 12" Foam w/ Adhesive Back, FIRM McMaster 86375K163 3 $ 6.94 $ 20.82
14 1/16" ID, 1/8" OD Silicone Tubing McMaster 51135K11 50 $ 0.41 $ 20.50
15 4-40, 1/8" H Barrel Thread Plate McMaster 90975A002 1 $ 9.01 $ 9.01
16 1/16" Single Barb Tee Fitting McMaster 5116K11 1 $ 2.38 $ 2.38
17 7mm OD, 3.2mm ID Fiber Washer McMaster 95225A315 1 $ 8.35 $ 8.35
18 4-40, 1/2" Length Socket Cap Screw McMaster 92196A110 1 $ 4.26 $ 4.26
# Item Model Manufacture Part Number QTY Price Shipped
19 4-40, 3/4" Length Socket Cap Screw McMaster 92196A113 1 $ 4.52 $ 4.52
20 4-40, 1" Length Socket Cap Screw McMaster 92196A115 1 $ 5.78 $ 5.78
21 1/32" X 12" X 12" PTFE Sheet Gasket McMaster 1063T21 2 $ 7.05 $ 14.10
22 1/16" X 12" X 12" PTFE Sheet Gasket McMaster 1063T22 2 $ 13.94 $ 27.88
23 IMU Analog Devices 1 $ - $ -
24 BOX - MOD01 Initial Release of BOX P09233 - 1 $ 29.50 $ 29.50
25 4 Pack of Bateries AA Radio Shack - 2 $ 2.50 $ 5.00
26 4 Pack of Bateries AAA Radio Shack - 2 $ 2.50 $ 5.00
27 Battery Holder 4X AA Radio Shack - 1 $ 1.79 $ 1.79
28 Battery Clips 9V Radio Shack - 1 $ 2.69 $ 2.69
29 Battery Holder 2X AA Radio Shack - 1 $ 1.69 $ 1.69
30 Battery Holder 3X AAA Radio Shack - 1 $ 1.79 $ 1.79
31 Adapter Plug M Radio Shack - 1 $ - $ -
32 AC Adapter 6V 800Ma AC Radio Shack - 1 $ 22.99 $ 22.99
33 SD Memory Card 1Gb Sandisk - 1 $ 12.99 $ 12.99
34 Binder 1.5" OFFICE DEPOT - 1 $ 7.79 $ 7.79
35 Ready Index 5 Tabs OFFICE DEPOT - 1 $ 2.59 $ 2.59
36 Binder 1.5" (2-Pack) OFFICE DEPOT - 1 $ 5.29 $ 5.29
$ 910.73
Bill of Materials# Item Model Manufacture Part Number QTY Price Shipping Shipped
1 Altimeter ZLOG 3 Digital Products #ZLOG3 1 $ 89.95 $ 3.79 $ 93.74
2 Airspeed MicroSensor V3 Eagle Tree Systems AIRSPEED-V3 2 $ 42.99 $ - $ 85.98
3 Pitot-Static Tube Pitot-Static Tube Kit Eagle Tree Systems PITOT-KIT-V3 2 $ 9.99 $ - $ 19.98
4 Microprocessor SAM7-256 Board Spark Fun Electronics DEV-00774 1 $ 71.95 $ 9.79 $ 81.74
5 GPS 32 Chan San Jose Nav. Spark Fun Electronics GPS-08266 1 $ 99.95 $ - $ 99.95
6 Altimeter Ultrasonic Range Finder Spark Fun Electronics SEN-08504 1 $ 27.95 $ - $ 27.95
7 GPS Break Out Board Lassen iQ Eval Board - USB Spark Fun Electronics GPS-00168 1 $ 34.95 $ 13.93 $ 48.88
8 3/16" X 12" X 12" Foam w/ Adhesive Back, SOFT McMaster 86375K151 1 $ 8.17 $ - $ 8.17
9 1/8" X 1/2" 39' Foam w/ Adhesive Back, SOFT McMaster 93275K12 1 $ 15.84 $ - $ 15.84
10 .25" Dia, .057" Thick Vibration Grommet McMaster 9311K138 12/25 $ 10.27 $ - $ 4.93
11 1/8" X 12" X 12" Foam w/ Adhesive Back, FIRM McMaster 86375K163 1 $ 6.94 $ - $ 6.94
12 1/16" ID, 1/8" OD Silicone Tubing McMaster 51135K11 20 $ 0.41 $ - $ 8.20
13 4-40, 1/8" H Barrel Thread Plate McMaster 90975A002 17/100 $ 9.01 $ - $ 1.53
15 7mm OD, 3.2mm ID Fiber Washer McMaster 95225A315 31/100 $ 8.35 $ - $ 2.59
16 4-40, 1/2" Length Socket Cap Screw McMaster 92196A110 7/100 $ 4.26 $ - $ 0.30
17 4-40, 3/4" Length Socket Cap Screw McMaster 92196A113 7/100 $ 4.52 $ - $ 0.32
18 4-40, 1" Length Socket Cap Screw McMaster 92196A115 7/100 $ 5.78 $ - $ 0.40
19 IMU ADIS 16350 Analog Devices ADIS 16350 1 $ 550.00 $ - $ 550.00
20 BOX - MOD01 Initial Release of BOX P09233 - 1/4 $ 29.50 $ - $ 7.38
21 AC Adapter 6V 800Ma AC Radio Shack - 1 $ 22.99 $ - $ 22.99
22 SD Memory Card 1Gb Sandisk - 1 $ 12.99 $ - $ 12.99
TOTAL $ 1,100.79
Projected Project Costs
Building a second Measurements Box: Total Project Cost: $1900 (includes IMU cost ~$500)
Total Project Cost: $1400 (assumes donated IMU)
Measurements Box BOM: $1100 (includes IMU cost ~$500)
$600 (assumes donated IMU)
The Current Project Cost: $910
Current Risks
Ability to Program the MCU Ability to Interface with the IMU Ability to Test the IMU – MAV Test Stand GPS Calibration Airframe A Flight Testing
Action Items Program MCU IMU Testing Further Sensor Testing Pitot Static Tube Mounting Design Part Drawings Assembly Instructions Component Documentation
Schedule - SDIITeam Member WEEK 11 FINALS BREAK WEEK 12 WEEK 13 WEEK 14
Michael Skube (TEAM LEAD)
Review Project Status, Meet with team leads, Update EDGE,
Individual Sensor Review, Order new Parts, Finalize SD I
Documents
Complete Documentation, Write Instillation Instructions
Complete Documentation, Write Instillation Instructions
Meet with Team Leads, Update EDGE, System Integration Review Test complete system on Ground Station
James Hunt (TEAM / MECHANICAL
LEAD)
Prepare for Individual Sensor Review, Revisit Sensor Selection
if needed, Continue Testing, Meet with team leads
Complete Documentation, Write Instillation Instructions
Complete Documentation, Write Instillation Instructions
Begin Testing Complete Measurements System, Meet with Team Leads Test complete system on Ground Station
Joseph Peters (ELECTICAL LEAD)
Prepare for Individual Sensor Review, Revisit Sensor Selection
if needed, Continue Testing, Meet with team leads
Complete Documentation, Program Microcontroller Program Microcontroller Begin Complete System Integration,
Meet with Team Leads Test complete system on Ground Station
Kevin LiPrepare for Individual Sensor
Review, Revisit Sensor Selection if needed, Continue Testing,
present testing results
Complete Documentation, Program Microcontroller Program Microcontroller Begin Complete System Integration Test complete system on Ground Station
Heidi MorganPrepare for Individual Sensor
Review, Revisit Sensor Selection if needed, Continue Testing,
present testing results
Complete Documentation, Program Microcontroller Program Microcontroller Begin Complete System Integration Test complete system on Ground Station
John IselyPrepare for Individual Sensor
Review, Revisit Sensor Selection if needed, Continue Testing,
present testing resultsComplete Documentation, Test Sensors Complete Documentation, Test Sensors Begin Complete System Integration Test complete system on Ground Station
William AtkinsonPrepare for Individual Sensor
Review, Revisit Sensor Selection if needed, Continue Testing,
present testing resultsComplete Documentation, Test Sensors Complete Documentation, Test Sensors Begin Complete System Integration Test complete system on Ground Station
Program MCU
Test AltimeterDocument BOX Build
Test Pitot Static Tube
Part Design
Phas
e I S
yste
m
Test
ing
Team Member WEEK 15/17 WEEK 16 WEEK 18 WEEK 19 WEEK 20/21/22
Michael Skube
(TEAM LEAD)
Review/Fix/Re-test Complete Measurements System on Ground System,
Meet with other Team LeadsTest complete system on Airframe A, Prepare for IMAGINE RIT, Begin Design of SD Poster
Update Documentation, Meet with Team Leads, Update EDGE, Fly Measurements System and
Document Flight, Prepare for IMAGINE RIT
IMAGINE RIT FESTIVAL
Finalize All Documentation, Update EDGE, Team Lead Meeting
James Hunt
(TEAM / MECHANICAL LEAD)
Review/Fix/Re-test Complete Measurements System on Ground System,
Meet with other Team LeadsTest complete system on Airframe A, Prepare for IMAGINE RIT, Begin Design of SD Poster
Update Documentation, Meet with Team Leads, Update EDGE, Fly Measurements System and
Document Flight, Prepare for IMAGINE RITFinalize All Documentation, Update EDGE,
Team Lead Meeting
Joseph Peters
(ELECTICAL LEAD)
Review/Fix/Re-test Complete Measurements System on Ground System,
Meet with other Team LeadsTest complete system on Airframe A, Prepare for IMAGINE RIT, Begin Design of SD Poster
Update Documentation, Meet with Team Leads, Update EDGE, Fly Measurements System and
Document Flight, Prepare for IMAGINE RITFinalize All Documentation, Update EDGE,
Team Lead Meeting
Kevin Li Review/Fix/Re-test Complete Measurements System on Ground System,
Test complete system on Airframe A, Prepare for IMAGINE RIT, Begin Design of SD Poster
Update Documentation, Update EDGE, Fly Measurements System and Document Flight,
Prepare for IMAGINE RITFinalize All Documentation, Update EDGE
Heidi Morgan Review/Fix/Re-test Complete Measurements System on Ground System,
Test complete system on Airframe A, Prepare for IMAGINE RIT, Begin Design of SD Poster
Update Documentation, Update EDGE, Fly Measurements System and Document Flight,
Prepare for IMAGINE RITFinalize All Documentation, Update EDGE
John Isely Review/Fix/Re-test Complete Measurements System on Ground System,
Test complete system on Airframe A, Prepare for IMAGINE RIT, Begin Design of SD Poster
Update Documentation, Update EDGE, Fly Measurements System and Document Flight,
Prepare for IMAGINE RITFinalize All Documentation, Update EDGE
William Atkinson Review/Fix/Re-test Complete Measurements System on Ground System,
Test complete system on Airframe A, Prepare for IMAGINE RIT, Begin Design of SD Poster
Update Documentation, Update EDGE, Fly Measurements System and Document Flight,
Prepare for IMAGINE RITFinalize All Documentation, Update EDGE
Schedule - SDII
Refine Programmi
ngDocumenta
tion
Documentation
Drawings
Phas
e II
Syst
em
Test
ing
Final
Do
cum
enta
tion