TEAM 9 - MRAV DESIGN CONSTRAINTS ANALYSIS
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TEAM 9 - MRAVDESIGN CONSTRAINTS ANALYSIS
by Nick Gentry
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UPDATED PSSC1. An ability to remotely monitor remaining battery life (fuel gauge).
2. An ability to hover in a stable position (based on autonomous stability / control algorithm).
3. An ability to fly in any direction (compass orientation) at a variable speed and a stable altitude (based on autonomous stability / control algorithm).
4. An ability to take off/land (ascend / descend) while remaining level (based on autonomous stability / control).
5. An ability to remotely control flight functions (e.g., ascend, descend, hover, compass orientation, forward speed).
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MAJOR DESIGN CONSTRAINTS• Microcontroller must be able to run PID
algorithm and Kalman filter at speeds > 50Hz• Microcontroller must have SPI (x1), I2C (x4), UART
(x3), PWM (x4), and ADC (x6).• WiFi module must have baud rate > 400kbps to
stream JPEG compressed 640x480i video at ~4fps• On-board power supply must be able to source
14.8V with max current draw of 50A• Motors must provide enough thrust to achieve a
2:1 thrust to vehicle weight ratio
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IMU (Inertial Measurement Unit)3-Axis GryoscopeITG3200 (I2C interface)
3-Axis MagnetometerHMC6343 (I2C interface)
3-Axis AccelerometerLIS3LV02DQ (I2C interface)
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Brushless MotorsConstraints:
• Greater than 2:1 thrust to vehicle weight ratio• Current should not exceed 10A per motor @ 14.8V
Selection:• MK2832/35 Brushless 14-Pole• Lithium Cell Count: 4• Maximum load current: 10A• No load speed: 760RPM/V• Maximum Thrust (10x4.5 prop): 820g per motor
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Electronic Speed ControlConstraints:
• Must be able to source > 10A @ 14.8V
Selection:• Turnigy Basic 18A ver3.1• Lithium Cell Count: 2-4• Maximum load current: 22A• Continuous Current: 18A
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BatteryConstraints:
• Must be able to supply > 50A @ 14.8V• Runtime > 10 minutes
Selection:• Turnigy Nano-Tech• 14.8V / 4500mAh• 25C Discharge Rate
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CameraConstraints:
• CMOS sensor with resolution >640x480 pixels• On-board JPEG compression
Selection:• Toshiba TCM8240• Max resolution of 1300x1040 pixels• 10:1 Internal JPEG compression• I2C interface
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Wireless ModuleConstraints:
• Baud rate > 400kbps to achieve proper transmission of video and control data
Selection:• Roving Networks RN-131G• 802.11 b/g • WPA/WPA2• 4uA sleep• 40mA Rx • 210mA Tx
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Battery MonitorConstraints:
• Must be able to monitor 4 Li-Po Cells• Undercharge / Overcharge Protection
Selection: • MAXIM DS2788 1-10 Cell Li-Po Monitor• Parameters: Voltage, Current, and Temperature• Outputs remaining battery %
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Primary MicrocontrollerConstraints:
• Purpose: Run Stability Algorithm• Peripherals
• I2C x2• SPI x1• UART x2• Six channels of 12-Bit ATD• Four channels of PWM
Selection:• Texas Instruments MSP430F5438 16-Bit 25MHz• 256KB Flash• 16KB Ram
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Constraints:• Purpose: Process video + WiFi interface• Peripherals
• I2C x2• UART x2
Selection:• Texas Instruments MSP430F2618 16-Bit 16MHz• 116KB Flash• 8KB Ram
Secondary Microcontroller
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Constraints:• Rigid structure• Lightweight / durable material
Selection:• Mikrokopter MK50 Frame• Extruded Aluminum beams• Carbon fiber base plate• 120 grams
Airframe
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Power Supply
14.8 VDC unreg5 VDC reg via LM7805 @ 1A 3 VDC reg via LM3940 @ 300mA
14.8 VDC Li-Po Battery Pack
UARTI2C
8 bits MSP430F2618TPN UART I2C
2
3-Axis Accelerometer
3-Axis MEMS Gyroscope
Ultrasonic Range Sensor x6
Speed Controller
Speed Controller
Speed Controller
Motor
Motor
Motor
MotorSpeed Controller
DB9
Max23216x2 LCD
2
Wifi Module
Base Station (GUI
Software)
4-Cell Battery Monitor
3
3
6
Reset Controller
RESET SPI UART ADC PWM
PWMI2C MSP430F5438TPN PWM
PWM
I2C UART
2
2
3
3
CMOS Camera
2
System Block Diagram
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The END