Using Low Cost Sensors”
Research Paper By:
Buskey, Gregg and Roberts, Jonathan
and Corke, Peter and Wyeth, Gordon
Dynamic Systems Modeling(Lab)
Engr. Ajmal Hussain Shah
This presentation will put a light upon how to control
helicopter using low cost sensors.
Control technology is nested loops.
Speed, height and altitude is measured in house by vision and
This aircraft technology is needed to settle down and to
respond to the demands of a high level steering at all axis,
including address, height, longitudinal and lateral speed.
This presentation gives us the solution to the problem
of automation control at low cost modules.
In Commercial aircrafts, there are many problems,
challenges and trade-offs, like.
In commercial aircrafts, there is a problem of weight
Control of vibration is quite difficult.
The challenge is to maintain the balance between size
and cost of aircraft.
There is problem of fuel and flight capacity.
Flight capacity means the flight duration with a given
Here we shall discuss the ways to minimize all these
XCELL-60 Labelled Parts
Following is a labelled diagram of the XCELL-60
XCELL-60 RC helicopter is available in avionics.
It uses petrol as fuel instead of methanol.
Due to usage of petrol, its speed is comparatively low
but the advantage is that the vibrations are also low.
Petrol engine gives three times flight duration.
On a single tank, it gives eighteen minutes of flight.
Here are the major specifications of the flight vehicle:
Diameter of rotor is 1.5 meters
Weight is 8 kilograms
Length is 1.8 meters.
Flight capacity is 18 Minutes per Litre.
Avionics & Sensors
Computer for data logging and sensing is any high
processing CPU equipped by wireless Ethernet and
Stereo vision system is used to control the velocity and
The Feedback controlled by RPM sensor connected
with feed forward term from collective pitch to
improve regulation response that makes it most
Heading (y), roll (f) and pitch (q) is controlled by IP
Maintenance of aircraft is also conducted with the
control system of aircraft.
The second source of variation is wind magnitude and
altering the flapping characteristics of the dynamics.
This variation occurs during a flight.
Horizontal Velocity Control
Velocity is implemented by two levels nested loop
Velocity errors give roll for roll control modules
Longitudinal velocity errors for pitch control modules.
Vertical control takes two forms:
One is vertical velocity regulation
Second is height regulation.
Vertical velocity controls the feedback and sends
demand to nested loop.
It also controls the height which is available in IP
This Presentation gives us the brief knowledge about
helicopter automation system with less cost avionics
and control systems.
Sensing is conducted by using vision modules.
Cheap sensing makes it quite efficient as compared to
It gives us small size with much more flight duration
and low cost.