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MAV Control System - P09122

Final Project Review

Erik Bellandi – Project ManagerBen Wager – Lead Engineer

Garrett Argenna – Mechanical EngineeringMichael Pepen – Electrical Engineering

Tahar Allag – Electrical EngineeringRamon Campusano – Computer Engineering

Stephen Nichols – Computer Engineering

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Contents

• Background

• Objectives & Deliverables

• MSD I Achievements

• MSD II Achievements

• Recommendations

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Background

• Past – Focused on small scale

surveillance.

• Future– MAV rules have changed so

now focus is on autonomy with small size being secondary.

– Fly autonomously indoors and outdoors

– Goal is to compete in the EMAV competition

MIT Autonomous UAV Aerobatics Project

MAV 2006 Model

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Project Objectives & Deliverables

Product Description / Project OverviewTo design and build a flight control system for the Micro Aerial Vehicle, that will most quickly lead to a fully autonomous system.

Key Business Goals / Project Deliverables Primary Goals:– Make the MAV as autonomous as possible.

• Achieve desired flight qualities.–Stabilize if unstable or increase damping

• Adaptable• Fully Tested and Integrate with Platform

Secondary Business Goal:– Able to compete in the EMAV Competition.

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MSD I Accomplishments

Detailed Design

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Control System Concept

Stability Augmentation System

Autopilot System

• Stability Augmentation System:– If an airplane is marginally stable or unstable, the SAS can provide proper

vehicle stability– Ensure the plane has the appropriate handling qualities; additional damping

can be incorporated using a pitch, roll and yaw damper.

• Autopilots: Reduce Pilot Workload– Attitude Hold – Maintain desired roll, pitch and heading– Altitude Hold – Maintain desired altitude– Velocity Hold – Maintain desired velocity

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Overall System Architecture

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Detailed System Diagram

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PCB Physical Layout Design

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Test Stand Design

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MSD II Accomplishments

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0 5 103.61

3.615

3.62

3.625

3.63

3.635Elevator Step w/ SAS

Time (sec)

Alp

ha (

deg)

0 5 10-0.1

-0.05

0

0.05

0.1

Time (sec)

Q (

deg/

sec)

0 5 103.6

3.65

3.7

3.75

Time (sec)

The

ta (

deg)

0 5 10-2

0

2

4

6

Time (sec)

z (f

t)

Platform Simulation & Control System

Open-loop Simulations

Stability Augmentation System

Preliminary Autopilot Simulations

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Electronics Board

PCB Design

Final Electronics

Actual Picture

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Sensors

GPS and IMU Test Drive Data

Temperature and Pressure Data

Video

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Test Stand

Actual Picture-what we have of test stand,

electronics and “safety box”

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Special Features

• Wireless Communication– Real-time short-range data transmission of flight data

• Flight Data Post-Processing– GPS and IMU Data overlay on Google Earth– Convert all flight data to plain text (Matlab compatible)

• SD Card Functionality– Record all raw and calculated flight data– Easily load and initialize control system configuration on-the-fly

• Initialization Status LED’s– Display status and error codes for Control System, GPS and IMU

• Test Stand– Feedback Control (Matlab Serial communication)– Wireless communication (Test Stand Data)

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Target SpecificationsList of Metrics

# Metric Importance Units Accomplished? Comments

1 Recover from 5mph gust 4 Mph, m/s N Simulated but not tested

2 Fly straight and level within a meter over a distance of 50 m

5 m, ft N Simulated but not tested

3 Have at least 6 changeable parameters

8 # Y 4 SAS gains, >6 Autopilot Gains for future teams

4 Weight less then 0.5 kg. 7 kg, lb Y Weight = 0.2561 kg

5 Fit within MAV platform 2.25”x2.25”x8”

6 in, cm Y Final size: 2.1” x 1.1” x 5.25”

6 All testing matrices completed 1 # N Delays in test stand manufacturing

7 Receive and process remote signal

2 Y/N Y 6 channel receiver including override for S.A.S.

8 Transmit data to ground unit 9 List Y Storing data to SD card

9 Process and use data from all sensors

3 Y/N – List Y 5 sensors with 9 measured parameters

10 Determine it’s position within 1 meter

10 m, ft N GPS within 2.5 m, IMU calculations need verification

11 Fly a designated pattern within 2 meters

11 m, ft N Attitude and position holds needed for future projects

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Weight

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Cost Breakdown

Sensors $857.96

Controller $261.24

Video $55.77

Kit Planes $269.89

Test Stand $802.78

Total Cost: $2,247.64

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Recommendations

• PCB could be refined for size and weight

• Test onboard sensor calculation using test stand

• DATCOM may be more useful with further research

• Research Robust and Non-Linear Controls

• Higher Quality Video

• Better GPS units available

• Look into additional telemetry (2-way comm.)

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Questions?