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  • 1. CLOSED LOOP MOTOR CONTROL USINGAHRSBYESHAAN KUMARTEJAS SSHILPA SUnderthe Guidance ofINTERNAL GUIDE EXTERNAL GUIDEMrs. Padmaja Vijaykumar Mr. R. SrinivasanDepartment of ECE, AIeMS SC ‘F’, ADE, DRDO
  • 2.  AHRS Gyros are used world wide in UAV’s Gyros are nothing but devices which measuresrate of rotation of an Object in Space. Traditional Gyros are Huge and Bulk andRequires a large maintenance Cost as it ispurely Mechanical. AHRS can eventually replace these traditionalGyros.Typical MechanicalGyroscopes
  • 3. Introduction of AHRS eventually lead to thereplacement of Traditional Gyros.AHRS is an IMU used for measuring the positionof an object in Space.AHRS Contains Accelerometer, Gyro meter andmagnetometers(17 bit)Typical AHRS
  • 4. AHRS is an 32 bit high performance processorwhich measure parameter like Euler angles andEuler rate.AHRS Provides Digital data and o/p are based on type of CommandAHRS Configurations: (Serial portconfiguration, baud rate, start bit ,stop bit, parity)Principle axis of Rotation of an Aircraft
  • 5.  Design an Closed Loop Motor Control systemwhich makes use of ADuC 7020 microcontroller along with AHRS for every ~5ms. Use the Roll data and Roll rate in order tocontrol the motor. Provide an appropriate Signal conditioningcircuit(hardware design) which is sufficient tocontrol the motor Also provide an user interface to change thecommand using 3-bit parallelport(8commands)
  • 6. Function: The3DM-GX3™ will output a data record containing EulerAngles and Angular Rates.Command:Byte1 0xCFFunction: The3DM-GX3™ will output a data record containing EulerAnglesand AngularRates.Response:Byte1 0xCFBytes2-5 Roll (IEEE-754Floating Point)Bytes6-9 Pitch (IEEE-754Floating Point)Bytes10-13 Yaw (IEEE-754Floating Point)Bytes14-17 AngRateX (IEEE-754Floating Point)Bytes18-21 AngRateY (IEEE-754Floating Point)Bytes22-25 AngRateZ (IEEE-754Floating Point)Bytes26-29 TimerBytes30-31 Checksum
  • 7. µC is required because1. One Serial RS 232 interface - For AHRS2. 3 – bit parallel port interface to set the rollcommand3. DAC
  • 8. Equation0 0 1 1 1 1 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0S E M1 bit 8 bits 23 bits
  • 9. Example :0 01111110o S = 0Number is Positiveo E = 01111110 b = 126 de = E -127 = -1o M = .10000000000000000000000 = 0.5 d10000000000000000000000N = 0.75 d
  • 10. 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00 0 1 1 1 1 1 1 0S E Ma[3] a[2] a[1] a[0]To Find STo Find E
  • 11. 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 00 0 1 1 1 1 1 1 0S E Ma[3] a[2] a[1] a[0]To Find NTo Find M
  • 12. fb from AHRS (ROLL angle) Read Cmd selected as on (from parallel port)
  • 13. Picture shows the AHRS o/p as seen on a DAC when it ismanually rotated from +/- 180 degrees.
  • 14. Picture shows the update value from AHRS in every 10m sec
  • 15. The roll output of the AHRS on DAC
  • 16. The output of the Roll rate on DAC in the closed loop whenseen on a oscilloscope.
  • 17. P(1.4) P(1.3) P(1.2) Angle(in degree) Command0 0 0 157 0x6FF0 0 1 90 0x3FF0 1 0 45 0x1FF0 1 1 0 01 0 0 -45 0xFFFFFE031 0 1 -90 0xFFFFFBFF1 1 0 -157 0xFFFFF9001 1 1 67 0x2FFList of Commands
  • 18. The roll output of the AHRS on DAC for a step command of +157 deg
  • 19. The roll output of the AHRS on DAC for a step command of -45 deg
  • 20.  AHRS is proved to be a useful element to beused in UAVs. Designed system gives the update value fromAHRS for every ~5ms. System designed provides Steering andStabilization mechanism.
  • 21.  A successful attempt was made to design aclosed loop control system using availablemotor with AHRS. This project has also demonstrated itsperformance in using in any steering andstabilization system in space. The line of sight of motor remains the sameirrespective of the rotating motor .