This document describes the design of a small-scale unmanned aerial vehicle (UAV) with a birotor configuration. It outlines a 10-step methodology for the design based on modeling physical processes, specifying hardware, and simulating and testing the system. Key aspects include developing mathematical models of the forces and torques acting on the birotor UAV. Hardware includes sensors, motors, and an embedded computing platform. System modeling integrates the physical and computational models to simulate the overall UAV design prior to implementation.

1. Small Scale UAV with Birotor Configuration
Small Scale UAV with Birotor
Configuration
F. S. Gon¸alvesa , J. P. Bodanesea , R. Donadela , G. V. Raffob , J. E.
c
Normey-Ricoa , L. B. Beckera
a
Department of Automation and Systems
Federal University of Santa Catarina - Brazil
b
Department of Electronic Engineering
Federal University of Minas Gerais - Brazil
The 2013 International Conference on Unmanned Aircraft Systems,
May 30, 2013
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2. Small Scale UAV with Birotor Configuration
Outline
1
Introduction
2
Methodology
3
Model the Physical Processes (Step 2)
4
Hardware Specification (Step 6)
5
System Modelling (Step 3)
6
Conclusions and Future Works
Gon¸alves, Bodanese, Donadel, Raffo, Normey-Rico, Becker
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3. Small Scale UAV with Birotor Configuration
Introduction
Outline
1
Introduction
2
Methodology
3
Model the Physical Processes (Step 2)
4
Hardware Specification (Step 6)
5
System Modelling (Step 3)
6
Conclusions and Future Works
Gon¸alves, Bodanese, Donadel, Raffo, Normey-Rico, Becker
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4. Small Scale UAV with Birotor Configuration
Introduction
Introduction
Proposed UAV Description
Gon¸alves, Bodanese, Donadel, Raffo, Normey-Rico, Becker
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5. Small Scale UAV with Birotor Configuration
Introduction
Introduction
Proposed UAV Description
Base station possible actions:
The UAV has 3 operation modes:
⇒ Configure a mission.
⇒ Autonomous flight mode.
⇒ Start an autonomous flight.
⇒ Safe mode.
⇒ Abort a mission.
⇒ Maintenance mode.
⇒ Monitor flight information.
⇒ Perform verification tests in
the UAV.
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6. Small Scale UAV with Birotor Configuration
Introduction
Introduction
Motivation
⇒ Absence of a guide/tutorial for building the UAV;
⇒ Existing aircrafts are a black blox;
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7. Small Scale UAV with Birotor Configuration
Introduction
Introduction
Tiltrotor UAV
Physical System
⇒ Rotors can tilt longitudionally
⇒ Fixed tilt angle laterally
⇒ Center of mass displaced in the Z axis
System’s characteristics
⇒ Underactuated mechanical systems
⇒ Highly nonlinear and time varying
behavior
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8. Small Scale UAV with Birotor Configuration
Introduction
Introduction
Paper’s Goals
Describe the design methodology used to guide the project;
Present a preliminary mathematical model of the forces and torques
that generate the montion of the UAV;
Detail the embedded computing platform;
Presents and discusses the computational model created to represent
the design and support simulation activities.
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9. Small Scale UAV with Birotor Configuration
Methodology
Outline
1
Introduction
2
Methodology
3
Model the Physical Processes (Step 2)
4
Hardware Specification (Step 6)
5
System Modelling (Step 3)
6
Conclusions and Future Works
Gon¸alves, Bodanese, Donadel, Raffo, Normey-Rico, Becker
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10. Small Scale UAV with Birotor Configuration
Methodology
Methodology
” model-based design methodology for cyber-physical systems.”
A
,
published by J. Jensen, D. Chang, and E. Lee.
The methodology consists of 10 steps:
⇒ Step 1: State the Problem
⇒ Step 2: Model the Physical Processes
⇒ Step 3: Characterize the Problem
⇒ Step 4: Derive a Control Algorithm
⇒ Step 5: Select Models of Computation
⇒ Step 6: Specify Hardware
⇒ Step 7: Simulate
⇒ Step 8: Construct
⇒ Step 9: Synthesize Software
⇒ Step 10: Verify, and Validate, and Test
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11. Small Scale UAV with Birotor Configuration
Methodology
Methodology
” model-based design methodology for cyber-physical systems.”
A
,
published by J. Jensen, D. Chang, and E. Lee.
The methodology consists of 10 steps:
⇒ Step 1: State the Problem
⇒ Step 2: Model the Physical Processes
⇒ Step 3: Characterize the Problem
⇒ Step 4: Derive a Control Algorithm
⇒ Step 5: Select Models of Computation
⇒ Step 6: Specify Hardware
⇒ Step 7: Simulate
⇒ Step 8: Construct
⇒ Step 9: Synthesize Software
⇒ Step 10: Verify, and Validate, and Test
Gon¸alves, Bodanese, Donadel, Raffo, Normey-Rico, Becker
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12. Small Scale UAV with Birotor Configuration
Methodology
Methodology
” model-based design methodology for cyber-physical systems.”
A
,
published by J. Jensen, D. Chang, and E. Lee.
The methodology consists of 10 steps:
⇒ Step 1: State the Problem
⇒ Step 2: Model the Physical Processes
⇒ Step 3: Characterize the Problem
⇒ Step 4: Derive a Control Algorithm
⇒ Step 5: Select Models of Computation
⇒ Step 6: Specify Hardware
⇒ Step 7: Simulate
⇒ Step 8: Construct
⇒ Step 9: Synthesize Software
⇒ Step 10: Verify, and Validate, and Test
Gon¸alves, Bodanese, Donadel, Raffo, Normey-Rico, Becker
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13. Small Scale UAV with Birotor Configuration
Model the Physical Processes (Step 2)
Outline
1
Introduction
2
Methodology
3
Model the Physical Processes (Step 2)
4
Hardware Specification (Step 6)
5
System Modelling (Step 3)
6
Conclusions and Future Works
Gon¸alves, Bodanese, Donadel, Raffo, Normey-Rico, Becker
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14. Small Scale UAV with Birotor Configuration
Model the Physical Processes (Step 2)
Mathematical Modeling for Control Purposes
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15. Small Scale UAV with Birotor Configuration
Model the Physical Processes (Step 2)
Mathematical Modeling for Control Purposes
Gon¸alves, Bodanese, Donadel, Raffo, Normey-Rico, Becker
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R
FR = 0
0
fR
L
FL = 0
0
fL
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16. Small Scale UAV with Birotor Configuration
Model the Physical Processes (Step 2)
Mathematical Modeling for Control Purposes
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R
FR = 0
0
fR
L
FL = 0
0
fL
B
FR
 

B
fRx
−sin(αR )cos(β)
B
 fR (1)
sin(β)
= fRy  = 
B
cos(αR )cos(β)
fRz
B
FL
 

B
fLx
−sin(αL )cos(β)
B
 fL (2)
−sin(β)
= fLy  = 
B
cos(αL )cos(β)
fLz


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17. Small Scale UAV with Birotor Configuration
Model the Physical Processes (Step 2)
Mathematical Modeling for Control Purposes
Torque around Z axis
τψ = τfRx + τfLx + τRzdrag + τLzdrag
B
B
τψ = (fRx − fLx )l + kτ (Ω2 cos(αR ) − Ω2 cos(αL ))cos(β)
R
L
τψ = [(sin(αL )fL − sin(αR )fR )cos(β)l + kτ (Ω2 cos(αR )
R
(3)
− Ω2 cos(αL ))cos(β)
L
Torque around Z axis.
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18. Small Scale UAV with Birotor Configuration
Model the Physical Processes (Step 2)
Mathematical Modeling for Control Purposes
Torque araund Y axis
τθ = τfRx + τfLx + τRydrag + τLydrag
B
B
τθ = (fRx + fLx )rz + kτ (Ω2 − Ω2 )sin(β)
R
L
τθ = −(sin(αR )fR + sin(αL )fL )cos(β)rz
(4)
+ kτ (Ω2 cos(αR ) − Ω2 cos(αL ))sin(β)
R
L
Torque around Y axis.
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19. Small Scale UAV with Birotor Configuration
Model the Physical Processes (Step 2)
Mathematical Modeling for Control Purposes
Torque araund X axis
τφ = τfRz + τfLz + τRxdrag + τLxdrag
B
B
τφ = (fLz − fRz )cos(γ)l + kτ (Ω2 sin(αL ) − Ω2 sin(αR ))cos(β)
L
R
τφ = (cos(αL )fL − cos(αR )fR )cos(β)cos(γ)l + kτ (Ω2 sin(αL )
L
(5)
− Ω2 sin(αR ))cos(β)
R
Torque around X axis.
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20. Small Scale UAV with Birotor Configuration
Hardware Specification (Step 6)
Outline
1
Introduction
2
Methodology
3
Model the Physical Processes (Step 2)
4
Hardware Specification (Step 6)
5
System Modelling (Step 3)
6
Conclusions and Future Works
Gon¸alves, Bodanese, Donadel, Raffo, Normey-Rico, Becker
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21. Small Scale UAV with Birotor Configuration
Hardware Specification (Step 6)
System Architecture
Autonomous Flight Support Equipment
Specified hardwares to meet
the requirements
⇒ Inertial Measurement Unit
(IMU)
⇒ Global Positioning System
(GPS)
⇒ Ultrasonic sensor
⇒ Brushless motor and
propeller (rotor)
⇒ Servomotor
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22. Small Scale UAV with Birotor Configuration
Hardware Specification (Step 6)
System Architecture
Embedded Platform
Features considered for the development
platform:
⇒ Performance
⇒ Communication interfaces
⇒ Size
⇒ Support for wireless communication
⇒ Low Cost
Chosen platform: Beaglebone
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23. Small Scale UAV with Birotor Configuration
Hardware Specification (Step 6)
System Architecture
Communication Structure
MRF24J40MC
⇒ Produced by Microchip;
⇒ Implements the 2.4 GHz IEEE 802.15.4;
⇒ Range up to 4000 ft.
⇒ Uses the Serial Peripheral Interface (SPI) as
communication protocol;
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24. Small Scale UAV with Birotor Configuration
Hardware Specification (Step 6)
System Architecture
Communication Structure
Communication layers structure
Applications
User Space
Transport
IPv6
Kernel Space
6LowPan
Adaptation Layer
MAC
MRF24J40MC
PHY
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25. Small Scale UAV with Birotor Configuration
System Modelling (Step 3)
Outline
1
Introduction
2
Methodology
3
Model the Physical Processes (Step 2)
4
Hardware Specification (Step 6)
5
System Modelling (Step 3)
6
Conclusions and Future Works
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26. Small Scale UAV with Birotor Configuration
System Modelling (Step 3)
Simulink Model
Main structure
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27. Small Scale UAV with Birotor Configuration
System Modelling (Step 3)
Simulink Model
Main structure
Base station
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28. Small Scale UAV with Birotor Configuration
System Modelling (Step 3)
Simulink Model
UAV Model
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System Modelling (Step 3)
Simulink Model
UAV Model
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30. Small Scale UAV with Birotor Configuration
System Modelling (Step 3)
Simulink Model
UAV Model
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31. Small Scale UAV with Birotor Configuration
System Modelling (Step 3)
Simulink Model
UAV Model
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32. Small Scale UAV with Birotor Configuration
System Modelling (Step 3)
Simulink Model
UAV Model
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33. Small Scale UAV with Birotor Configuration
System Modelling (Step 3)
Data Processing Subsystem
Composed of the sensors, actuators and the transformation of the
raw data to the measurement unit expected of each component
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34. Small Scale UAV with Birotor Configuration
System Modelling (Step 3)
Data Processing Subsystem
Composed of the sensors, actuators and the transformation of the
raw data to the measurement unit expected of each component
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35. Small Scale UAV with Birotor Configuration
System Modelling (Step 3)
Data Processing Subsystem
Transformation of the raw data
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36. Small Scale UAV with Birotor Configuration
System Modelling (Step 3)
Continous Control Subsystem
Continous Control Subsystem
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37. Small Scale UAV with Birotor Configuration
Conclusions and Future Works
Outline
1
Introduction
2
Methodology
3
Model the Physical Processes (Step 2)
4
Hardware Specification (Step 6)
5
System Modelling (Step 3)
6
Conclusions and Future Works
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38. Small Scale UAV with Birotor Configuration
Conclusions and Future Works
Conclusions and Future Works
Paper contribution:
⇒ Building the airframe;
⇒ Covering the methodology
steps on the project;
⇒ Communicating the sensors
with the embedded platform
⇒ ProVant website http:
//provant.das.ufsc.br;
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39. Small Scale UAV with Birotor Configuration
Conclusions and Future Works
Conclusions and Future Works
Paper contribution:
Future work:
⇒ Building the airframe;
⇒ Design and validation of
different control strategies;
⇒ Covering the methodology
steps on the project;
⇒ Real-time behavior on the
computation platform;
⇒ Communicating the sensors
with the embedded platform
⇒ ProVant website http:
//provant.das.ufsc.br;
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40. Small Scale UAV with Birotor Configuration
Conclusions and Future Works
Team
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41. Small Scale UAV with Birotor Configuration
Conclusions and Future Works
Thank you for your attention
Questions?
Contacts
goncalves@das.ufsc.br
lbecker@das.ufsc.br
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