UNIVERSAL CONTROL METHODOLOGY DESIGN AND IMPLEMENTATION FOR UNMANNED VEHICLES. 8 th April 2010 Phang Swee King

Transcription

1 UNIVERSAL CONTROL METHODOLOGY DESIGN AND IMPLEMENTATION FOR UNMANNED VEHICLES 8 th April 2010 Phang Swee King

2 OUTLINES Introduction Platform Design Helicopter Avionics System Ground Station Sensors Measurement Improvement Control Methodology Orientation and Position Track Navigation Flight Tests and Results Future Improvements Summary

3 INTRODUCTION

4 PROJECT INTRODUCTION Project Aims Develop a universal control methodology which can be universally applied to unmanned vehicles Motivations Minimize difficulty for control law design and implementation in the future.

5 UNMANNED VEHICLE TYPES Unmanned Ground Vehicles Unmanned Aerial Vehicles Remote observation of hazardous environment Military applications Police forces Unmanned Underwater Vehicles

6 UAV TYPES Ability of Vertical Take-off and Landing (VTOL) Able to hover More challenging control problem as it is unstable in nature Fixed Wing UAV Rotorcraft UAV Airship UAV

7 ROTORCRAFT UAV TYPES Single Rotor UAV Co-axial UAV Simpler Dynamic Smaller in size but higher takeoff weight Stabilizer bar as passive controller. Multi-rotor UAV

8 TASKS Navigation following colored track Enter a doorway Identify objects Height reference changes Automatic landing

9 PLATFORM DESIGN

10 HELICOPTER Esky Brushless Motor 3900KV Metal Shaft and Swashplate ESky Big Lama Co-axial Helicopter 3DPro Hard DuraBlade

11 AVIONICS SYSTEM 3 main groups Processors Sensors Wireless Communication Module

12 AVIONICS COMPONENTS PROCESSORS Gumstix Verdex Pro 600MHz processing speed Light weight, small size Gumstix Overo 600MHz processing speed Light weight, small size

13 AVIONICS COMPONENTS SENSORS MNAV100CA Including 3 accelerometers, 3 gyroscopes, 3 magnetometer, and GPS receiver Integrated with servo controller MaxSonar EZ4 Up to 6 meter range Light weight, small size Hp Pavillion DV5 built in Camera 2 megapixel resolution Light weight

14 AVIONICS COMPONENTS MODEMS XBee-Pro Indoor range: 100 meter Light weight, small size

15 SOLIDWORKS DESIGN Individual SolidWorks objects are drawn to scale

16 SOLIDWORKS DESIGN Centre of Gravity

17 SOLIDWORKS DESIGN SolidWorks design Real implementation

18 FINAL SPECIFICATIONS Rotors diameter 480 millimeters Weight 770 grams Takeoff weight ~1000 grams Motors Brushless 3900kV Voltage supply 11.1 V

19 GROUND STATION Run in Linux Ubuntu Two separate programs Camera view Console

20 SENSORS MEASUREMENT IMPROVEMENT

21 HEIGHT MEASUREMENT Spikes might occurs at rough surface Algorithm if abs{ dh } > 1 meter measured height = not valid else measured height = valid end if LPF h 1 h 0.2s + 1

22 TILT COMPENSATORS Tilting of the UAV affects the actual measurements h act h = mea tan θ + tan 2 φ d act = d mea h act tanφ

23 ACCURACY TESTS Orientation measurements Position measurements

24 CONTROL METHODOLOGY

25 ORIENTATION CONTROL Pitch/Roll angle Yaw angle

26 POSITION CONTROL y-position z-position

27 TRACK NAVIGATION ), ( atan y y x x A A A A = θ Heading angle reference y-position reference θ sinθ 2 cos = y y x x d A A A A

28 FLIGHT TESTS AND RESULTS

29 FLIGHT PATH

30 FLIGHT TEST VIDEO

31 ORIENTATION AND HEIGHT PLOTS Height log Orientation log

32 OBJECTS IDENTIFICATION Rectangle box Paper cutter Measuring tape

33 FUTURE IMPROVEMENTS

34 FUTURE IMPROVEMENTS Better sensors Laser range finder Air speed sensor Obstacles detection More robust controller

35 SUMMARY

36 SUMMARY Introduction Why Co-axial helicopter Platform Design Helicopter Avionics system Processors Sensors Modems Ground station Measurement Improvements Height Lateral position Control Methodology Orientation and position Track navigation Flight Tests and Results Video Graphs Future Improvements Better sensors Obstacles detection More robust controller

37 SAFMC 2010

38 Thank You