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MicroCART - Senior Design

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MicroCART - Senior Design Powered By Docstoc
					       Design Presentation
           Spring 2009

Andrew Erdman
Chris Sande
Taoran Li
   Problem Statement
   Goals
   Functional Requirements
   Model
   Plan of Action
   Schedule
   Risks
   International Aerial Robotics Competition
    (IARC)
       Level 1 competition
         Autonomous flight
         Autonomous hover
         Navigation up to 3 km
   MicroCART is a long-term ongoing project
   Long Term
       Complete the requirements for IARC Level 1
       Produce an autonomous helicopter
   Short Term
       Development of a Simulink model of the system
       Test system hardware and software
   The aircraft should be fully autonomous
   The aircraft should operate without tethers
   The aircraft should be capable of autonomous
    hover at a GPS point
   The aircraft should be able to relay state
    information to a ground station
   The aircraft should be able to receive GPS
    waypoints from a ground station
   The aircraft should be able to be manually
    controlled by an operator
   The helicopter is not designed for flight in rain,
    snow, or high wind conditions
   Mathematical model should be accurate
   Model should take into account flapping and
    thrust
   Model should take into account external forces
   Virtual Reality Simulation from model
   Model should be user friendly
   Non-linear state space equation and
    linearization
   Matlab/ Simulink to develop the model of the
    vehicle.
   C code generation based on the model
   Validation and implementation using X-plane
    software
   Estimation of the hovering equilibrium points

   Finding parameters for stable hovering

   Simulation of the helicopter’s behavior

   Valuable testing tool
   Continue with the development of the
    Simulink model initiated this semester
   Improve existing code
       GPS
       Control
   Test systems
       Flight tests
       Mechanical
   Updates from GPS are available every second.
    Software needs to be able to interpolate
    between seconds and guess instantaneous
    position/speed more accurately.
   Add code to know when GPS data is reliable.
   Add code to convert location info to X-Y
    coordinates with a relative starting position.
   Get altitude data from GPS.
   Need to use control constants from modeling
    simulation to control the aircraft.
   Add code to flight control software to make use
    of all available sensors (not just IMU).
   Use filtered output from sensors.
   Test PID values.
   Need to locate an experienced RC helicopter
    pilot for live flight testing.
   Test craft’s capability to hover in one position.
   Test for ability to fly from waypoint to
    waypoint, starting with helicopter at altitude.
   Test for stability while in flight.
   Compare simulated data to actual data.
   Test sensor data to look for electrical noise
    issues.
   Test cable routing to make sure no damage can
    occur.

				
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