SD-May1014 Team: Michael Peat, Kollin Moore, Matt Rich, Alex Reifert Advisors: Dr. Nicola Elia and...
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Transcript of SD-May1014 Team: Michael Peat, Kollin Moore, Matt Rich, Alex Reifert Advisors: Dr. Nicola Elia and...
![Page 1: SD-May1014 Team: Michael Peat, Kollin Moore, Matt Rich, Alex Reifert Advisors: Dr. Nicola Elia and Dr. Phillip Jones.](https://reader036.fdocuments.net/reader036/viewer/2022062313/56649ce25503460f949adb51/html5/thumbnails/1.jpg)
MicroCART Senior Design Project
Phase 5
SD-May1014 Team: Michael Peat, Kollin Moore, Matt Rich, Alex ReifertAdvisors: Dr. Nicola Elia and Dr. Phillip Jones
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Objective: Create a small electrically powered autonomous flying vehicle capable of takeoff and landing from horizontal surfaces as well as stable indoor hover without human assistance.
Operating Environment:◦ Indoors and Unobstructed Area◦ Within Range of Position Tracking System
End Use and Users:◦ The intended end use of our system will be
continued research and development into the area of autonomous flight systems.
◦ The intended users will be knowledgeable engineering students and/or professors.
Project Plan
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Overall System Design
Helicopter Flight
Mechanics
Radio Controller
Onboard Sensors:• IR Camera•Accelerometer•Wireless Transmitter
Ground Station
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Power System◦ Designed a step-down buck converter circuit to power the
Wiimote sensors using the helicopter’s battery Required since the battery provides 7.4V and the Wiimote only requires
3.3V
◦ Currently exists on a breadboard circuit, will try and make the package smaller so it will only add minimal weight to the helicopter system
Helicopter Model◦ Researching various papers and also the models created by the
previous MicroCART group◦ The end goal is to design a Simulink block diagram to maintain
helicopter stability during flight◦ Has been very challenging up to this point because many
models are designed to work with standard helicopter blade configuration rather than coaxial
Power System and Modeling
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Wii data analysis function completely re-written:◦ Improved efficiency (run time, memory usage…) , overall analysis
capabilties (4 IR sets), expandability, and commenting significantly.
Modified Cwiid code◦ Outputs re-formatted , timestamp added, file output and numbering
added
Fabricated a cradle attaching Wii-mote to helicopter◦ Modified existing Aluminum brackets and a portion of original Wii-mote
case
Beginning further sensor testing◦ Constellations, data resolutions, disturbance spectrum
characterization…
Wii-Remote Programming and Cradle Manufacturing
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Reading Xbox Controller◦ Rewrote and adapted software being used by Korebot
Project◦ Tested and all inputs are working and available
Manipulating values appropriately◦ Mapped Xbox inputs to helicopter throttle, pitch, roll and
yaw values.◦ Tested and appropriate values are being generated.
Sending data using RS232 Serial port◦ Sends Channel Command followed by value to FPGA
state machine.◦ Found current maximum refresh rate of 2ms.◦ Appropriate voltage levels are seen at the DAC outputs.
Programming
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Traditionally used by physically changing potentiometers that in turn changed 4 control voltages
We decided to use the controller in a new way by directly changing the control voltages with a computer program◦ We first measured the control voltages and recorded how
they varied ◦ After carefully labeling the different control channels we
stripped the controller of nonessential parts including the potentiometers
◦ First we test our idea by connecting the controller to controlled power source
◦ We finally connected the controller to a DAC and FPGA that allowed us to connect directly to our team laptop
RC Controller
![Page 8: SD-May1014 Team: Michael Peat, Kollin Moore, Matt Rich, Alex Reifert Advisors: Dr. Nicola Elia and Dr. Phillip Jones.](https://reader036.fdocuments.net/reader036/viewer/2022062313/56649ce25503460f949adb51/html5/thumbnails/8.jpg)
Schedule
Data Aquistion Testing
Model Design
Data Analysis
Controller Design and Testing
End Product Testing
End Product Documentation
2/11/2010
2/21/2010
3/3/2010
3/13/2010
3/23/2010
4/2/2010
4/12/2010
4/22/2010
5/2/2010
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Any Questions ?