UAV Project presentation 1
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UAV Project presentation 1 UAV Project presentation 1 Presentation Transcript

  • 1Sirindhorn International Institute of Technology Unmanned Aerial Vehicle Presentation at NECTEC (23-07-2012) Mr. Tanapol Prucksakorn Mr. Kraingkrai Under Dr. Kanokvate Tangpimolrat’s and A.Itthisek Nilkchamhaeng’s supervison Young Scientist and Technologist Program
  • Sirindhorn International Institute of Technology 2 Unmanned Aerial Vehicle Introduction Collecting information from the air is difficult to do nowadays (by airplane, helicopter or satellite). In Thailand, there are many kind of copters (1 rotor, 3 rotors, 8 rotors and more). But most of them are for entertainment purpose. Young Scientist and Technologist Program
  • Sirindhorn International Institute of Technology 3 Unmanned Aerial Vehicle Introduction Quadrotor is a copter that has 4 rotors. It was invented in 1920. Figure 1: Quadrotor with cover Young Scientist and Technologist Program
  • Sirindhorn International Institute of Technology 4 Unmanned Aerial Vehicle Introduction Quadrotor has 2 rotors rotate in clockwise direction and another 2 rotors rotate in counterclockwise direction, this provides stability in yaw axis. Figure 2: Quadrotor Free Body Diagram Young Scientist and Technologist Program
  • Sirindhorn International Institute of Technology 5 Unmanned Aerial Vehicle Introduction This research project is a sequel from Tricopter (copter with 3 rotors) project in 3rd year. Figure 3: Tricopter Project Young Scientist and Technologist Program
  • Sirindhorn International Institute of Technology 6 Unmanned Aerial Vehicle Research Plan Implement PID Makes quadrotor fly controller Find dynamics model of Add inverse dynamics quadrotor controller Simulate in MATLAB (using PID controller) Young Scientist and Technologist Program
  • Sirindhorn International Institute of Technology 7 Unmanned Aerial Vehicle PID Controller PID controller is the controller that provides stability mainly based on feedback loop. It uses an error value from input minus output to stabilize the plant. Young Scientist and Technologist Program
  • Sirindhorn International Institute of Technology 8 Unmanned Aerial Vehicle PID Controller Input (Position) + error PID Current Dynamics Output (Thrust) Controller Model - Position Sensor Figure 4: PID controller Young Scientist and Technologist Program
  • Sirindhorn International Institute of Technology 9 Unmanned Aerial Vehicle Inverse Dynamics Controller With PID Controller This controller improve the previous controller by add a inverse of plant which is 1 This makes the system relies on the feedback loop less than the previous controller. Young Scientist and Technologist Program
  • Sirindhorn International Institute of Technology 10 Unmanned Aerial Vehicle Inverse Dynamics Controller With PID Controller Inverse of Dynamic Model Input (Position) + error + Output (Thrust) PID Dynamics - Controller + Model Position Sensor Figure 4: Inverse dynamics controller with PID controller Young Scientist and Technologist Program
  • Sirindhorn International Institute of Technology 11 Unmanned Aerial Vehicle Equipment List  Microcontrollers (Arduino) x 2  Brushless Motors x 4  ESCs x 4  Propellers x 4  IMU  Structure (Carbon Fiber, Fiber Glass)  Ultrasonic Sensor  Infrared Sensor  Camera (Kinect)  Battery Young Scientist and Technologist Program
  • Sirindhorn International Institute of Technology 12 Unmanned Aerial Vehicle Expected Problems  Physical  Frame and dimensions  Battery and power distribution  Hardware calibration  Motors  ESCs  Control  Dynamics model  Gain and response  Multivariable inputs  Inverse Dynamics Controller is not possible for some dynamics controller  Sensors calibration  Image processing  Quality  Precision Young Scientist and Technologist Program
  • Sirindhorn International Institute of Technology 13 Unmanned Aerial Vehicle Timeline Month Activity Jun Jul Aug Sep Oct Nov Dec Jan Feb Mar Study Quadrotor Design and Order parts Control motor Study Sensor Camera Assemble Test Summary and Report Young Scientist and Technologist Program
  • Sirindhorn International Institute of Technology 14 Unmanned Aerial Vehicle Video http://www.youtube.com/watch?v=Y4jtguS F0n4 Young Scientist and Technologist Program
  • Sirindhorn International Institute of Technology 15 Unmanned Aerial Vehicle Question and Answer Young Scientist and Technologist Program