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1 If you are really interested in this projetct,then for any help pls feel free to contact : pradu333@gmail.com 1

2 The algorithm we use here is base on the differential value returned by the left series resistors and the right series resistors; the positive result will rotate the servo motor counter clockwise and the negative result will rotate the servo motor clockwise. To make the servo motor rotate smoothly we use the threshold value in the onoff controller method, this mean if the different result is within the hysteresis band the servo motor will always stop and if the different result is outside the hysteresis band the servo motor will start to rotate counter clockwise or clockwise as shown in this following time diagram: Fig 2.8 Flapron right & elevator The algorithm we use here is base on the differential value returned by the left series resistors and the right series resistors; the positive result will rotate the servo motor counter clockwise and the negative result will rotate the servo motor clockwise. Rudder 2

3 This circuit is used to generate PWM for rotating the servo in 90 degree clock wise and anti clockwise direction. The circuit is basically an astable multivibrator which gives pulses with variable width. The pulse width is varied by switching the two transistors. If the pulse width is 1ms,the servo rotates in clock wise direction and if the pulse width is 2ms,the servo rotates in anticlock wise direction. The servo will be stationary if the pulse width is 1.5ms BRUSHLESS DC MOTOR : Fig 2.9. BRUSHLESS DC MOTOR Brushless DC motors (BLDC motors) also known as electronically commutated motors (ECMs) are synchronous electric motors powered by direct-current (DC) electricity and having electronic commutation systems, rather than mechanical commutators and brushes. The current-to-torque and voltage-to-speed relationships of BLDC motors are linear. BLDC motors are used in industries such as Appliances, Automotive, Aerospace, Consumer, Medical, Industrial Automation Equipment and Instrumentation. As the name implies, BLDC motors do not use brushes for 3

4 commutation; instead, they are electronically commutated. BLDC motors have many advantages over brushed DC motors and induction motors. A few of these are: Better speed versus torque characteristics High dynamic response High efficiency Long operating life Noiseless operation Higher speed ranges In addition, the ratio of torque delivered to the size of the motor is higher, making it useful in applications where space and weight are critical factors. Fig BRUSHLESS DC MOTOR = PERMANENT MAGNET AC MOTOR + ELECTRONIC COMMUTATOR Theory of Operation Each commutation sequence has one of the windings energized to positive power (current enters into the winding), the second winding is negative (current exits the winding) and the third is in a non-energized condition. Torque is produced because of the interaction between the magnetic field generated by the 4

5 stator coils and the permanent magnets. Ideally, the peak torque occurs when these two fields are at 90 to each other and falls off as the fields move together. In order to keep the motor running, the magnetic field produced by the windings should shift position, as the rotor moves to catch up with the stator field. What is known as Six-Step Commutation defines the sequence of energizing the windings. The specifications of BLDC motor are: Weight: 39g (with wire) Voltage: 11.1v (3S) Kv: 1200RPM/V Prop size: 10x5 RPM: 6100 Max Curr: 14.5A Thrust: 745g ELECTRONIC SPEED CONTROL : Fig ELECTRONIC SPEED CONTROLLER 5

6 Speed controller is a device that regulates the amount of power that goes to the electric motor. The electronic speed controller also known as ESC interprets signals from the receiver and works to provide variation in motor speed and direction and may act as a braking mechanism. There are electronic speed controls for brushed and brushless motors. If your RC is not equipped with an electronic speed controller and you want to add one, the general considerations are: Brushed or Brushless depending on your motor. Current rating that is higher than what your motor can pull (to avoid overheating). Voltage rating that is at least equal to or higher than the voltage of your battery. Low Voltage Cutoff is a feature on some electronic speed controllers that prevents damage to your battery pack by shutting down the ESC if the battery voltage drops too low. Here is a picture of a brushless ESC electric speed control. The red blue and black wires connect to brushless motor, the red and black wires with the Deans connector on the tip connect to your battery, and the connector terminal wire plugs into your receiver SERVOS : Fig 2.12 SERVO MOTOR 6

7 The servo motor is used for moving the rudder, ailerons, elevators and acceleration controla servo consists basically in a motor, gearbox, feedback potentiometer and an electronic board inside a plastic case. Outside are the servo arm and the servo cable and plug. The servo arm is often a plastic piece with holes on it for attaching push rods or other mechanical linkages.there are linear and rotary servos, but the most widespread today are the rotary servos whose arm rotates about 45 degrees left and right from its centre point. The servo has an electronic circuit that compares the incoming control pulse with a local generated one whose width corresponds to the servo arm's actual position. The servo's internal pulse width is determined by its feedback potentiometer whose slider moves together with the servo's arm. When the width of the incoming control pulse is different from the local generated, the servo motor will rotate until the both pulses' width are equal. The direction of rotation depends on whether the incoming pulse is wider or shorter than the local pulse. There are two operating concepts: the conventional servo and the digital servo. The conventional servo circuit uses a pulse stretcher to widen the pulse difference between the incoming pulse and the locally generated. Thereby a 1% pulse difference produces a 50% duty cycle for motor drive. A continuous drive signal will be obtained when the pulse difference is over 10%. Also a small dead band is provided to prevent the servo being in continuous state of motion when insignificant pulse differences occur. 7

8 Fig WORKING OF SERVO The difference between the conventional and the digital servo is that the pulse drive to the motor occurs every 20mS with the conventional, whereas with the digital occurs (for example) every 3.3mS, which means that the digital servo sends pulses to the motor at a much higher frequency. Digital servo incorporates a microprocessor, which receives the input pulse signal and generates power pulses to the servomotor based on preset values. Some brands offer the possibility to program certain parameters such as Dead-Band Width, Direction of Rotation, Neutral Point, Servo Arm Throw and End Point. The digital servo is supposed to have constant torque throughout the servo travel, faster control response and more accurate positioning, but at the expense of greater power consumption. The specifications of HXT900 servo motor are : Size: 21x12x22 mm / 0.74x0.42x0.78 in Voltage : 3v ~ 6v Weight: 11g / 0.39oz Speed : 0.12 sec/60(4.8v) Torque : 2.5 kg-cm 8

9 Working Temp : -30C~60C Carbon composite Bushing, 25cm wire, coreless motor WIRELESS CAMERA SYSTEM : The wireless camera system consists of camera, transmitter and transmitting antenna The specifications of wireless camera are : Imaging Sensor: CMOS. CMOS Pixels: 628*582( PAL) 510*492( NTSC). Minimum illumination : 3 LUX Transmission/Receiving Frequency: ISM 1.2GHz Modulation/Demodulation Type: FM. Power Supply: +9V DC. Unobstructed Effective Range: 100m. AV Receiver and Display unit : Fig 2.14 WIRELESS CAMERA The AV Receiver receives the video signal from the wireless camera and is given to the display. 9

10 The specifications of of Receiving Unit are : Wireless Video Receiver Receiving Method: Electronic Frequency Modulation Reception Sensitivity:+18DB Receiving Frequency:0.9G/1.2G Voltage:DC 12V Current:500m ELECTRICAL POWER SYSTEM : Fig Li-Po BATTERY Cells sold today as polymer batteries are pouch cells. Unlike lithiumion cylindrical cells, which have a rigid metal case, pouch cells have a flexible, foil-type (polymer laminate) case. In cylindrical cells, the rigid case presses the electrodes and the separator onto each other; whereas in polymer cells this 10

11 external pressure is not required because the electrode sheets and the separator sheets are laminated onto each other Since individual pouch cells have no strong metal casing, by themselves they are over 20% lighter than equivalent cylindrical cells. However, all Li-Ion cells expand at high levels of SOC; if uncontained, this may result in de-lamination, and reduction of reliability and cycle life; the case of cylindrical cells provides that containment, while pouch cells, by themselves, are not contained. Therefore, to achieve the rated performance, a battery composed of pouch cells must include an overall, strong, external casing to retain its shape. The voltage of a Li-poly cell varies from about 2.7 V (discharged) to about 4.23 V (fully charged), and Li-poly cells have to be protected from overcharge by limiting the applied voltage to no more than V per cell used in a series combination. Overcharging a Li-poly battery will probably cause explosion or fire. During discharge on load, the load has to be removed as soon as the voltage drops below approximately 3.0 V per cell (used in a series combination), or else the battery will subsequently no longer accept a full charge and may experience problems holding voltage under load. This can be achieved, as with other lithium-ion batteries, also harmed by under- and overvoltage, by circuitry that prevents overcharge and deep discharge. Li-poly batteries typically require more than an hour for a full charge. Recent design improvements have increased maximum discharge currents from two times to 15 or even 30 times the cell capacity. When compared to the lithium-ion battery, Li-poly has a greater life cycle degradation rate. However, in recent years, manufacturers have been declaring upwards of 500 charge-discharge cycles before the capacity drops to 80%. Another variant of Li-poly cells, the "thin film rechargeable lithium battery", has been shown to provide more than 10,000 cycles. 11

12 3. SOFTWARE DESCRIPTION 3.1 RF TRANSMITTER Fig 3.1. FLOW CHART OF RF TRANSMITTER 12

13 Created by Simpo PDF Creator Pro (unregistered version) MAIN PROJECT RF RECEIVER 13

14 Created by Simpo PDF Creator Pro (unregistered version) MAIN PROJECT 2012 Fig 3.2. FLOW CHART OF RF REIEVER 14

15 Created by Simpo PDF Creator Pro (unregistered version) MAIN PROJECT SERVO CONTROL Fig 3.3. FLOW CHART OF SERVO CONTROL 15

16 4. PROJECT DESCRIPTION The main part in this project is five microcontrollers,two of them are used in remote control section and the remaining three are for servo motor controllers.the microcontroller used in remote control section is PIC16F628.The main function of this PIC is to work as a encoder in transmitter and as a decoder in receiver. The three microcontrollers that used in servo controller are for to produce the PWM signals, It will produce the proper PWM signals in the range of 1ms to 2ms.Here the PIC will do a comparison of the obtained digital value with a threshold value, and if both are same then the pulse width will set to 1.5ms.If the difference is greater than threshold value then that will result in a width of 2ms.And if it is less than threshold value then the pulse width will set to 1ms. 16

17 5.RESULTS When we switch on the system the ESC starts to produce beep sound till it get the proper control signal.then the BLDC starts to rotate.with respect to the different control keys the different parts of the UAV starts to move back and forth. Fig 5.1. SNAP SHOTS 17

18 5. FUTURE SCOPE Self-thinking UAVs are still a futuristic option. The technical challenges to develop a fully autonomous UAV are still insurmountable.the UAV must be capable of flying without assistance from a human pilot after transitioning from manual takeoff mode. Autonomy refers to the aircraft's ability to fly without human intervention. Nevertheless, an element of self-thinking has been achieved in as much as UAVs are able to react to threats, for example, when attacked by an air-defense missile UAVs and UCAVs are themselves just aircraft with onboard systems. However, they are usually linked to additional equipment outside, such as the remote-control and launching equipment. 18

19 6.CONCLUSION To make UAV technology useful for WiSAR requires the integration of an intelligent UAV system into the existing intelligent WiSAR system. The autonomy components of the UAV technology also need to be integrated to support both individual searcher roles and the distributed system as a whole. We analyze and identify key elements of the integration challenges along two dimensions: attributes of intelligent system and scale. 19

20 REFERENCE Beard, R., Kingston, D., Quigley, M., Snyder, D., Christiansen, R., Johnson, W., McLain,T., and Goodrich, M. A. (2005). Autonomous vehicle technologies for small fixed-wing UAVs. Journal of Aerospace Computing, Information, and Communication, 2. Barber, D. B., Griffiths, S. R., McLain, T. W., and Beard, R. W. (2005). Autonomous landing of miniature aerial vehicles. In AIAA number AIAA Quigley, M., Goodrich, M. A., Griffiths, S., Eldredge, A., and Beard, R. W. (2005). Target acquisition, localization, and surveillance using a fixedwing, mini-uav and gimbaled cam- era. In Proceedings of the IEEE International Conference on Robotics and Automation,Barcelona, Spain. 20

21 APPENDIX 21

22 PROGAM FOR PIC16F628 RF TRANSMITTER list p=16f628 CONFIG _CP_OFF & _WDT_OFF & _PWRTE_ON & INTRC_OSC_NOCLKOUT & _LVP_OFF & _MCLRE_OFF & _BODEN_OFF ; toggle or momentary mode, 8 channels #define MODE_CH8 ; ON/OFF latched mode, 4 channels ;#define MODE_CH4 #include <p16f628.inc> #include <mtxv4.inc> variables UDATA ; RAM registers tcnt RES 1 rcnt RES 1 cod RES 1 prevcod RES 1 cod0 RES 1 22

23 rowstate RES 1 startup CODE 0 goto main nop nop nop retfie prog CODE main ; program starts here clrf PORTA clrf PORTB clrf TMR0 BANKSEL TRISA movlw 0 movwf TRISA movlw 0xf0 movwf TRISB bcf OPTION_REG, PSA clrwdt clrf OPTION_REG clrwdt BANKSEL PORTA 23

24 movlw 7 movwf CMCON movlw (1<<RBIE); RB4-7 int on change enable movwf INTCON call mtx_init clrf mtx_buffer clrf tcnt loop0 clrf (mtx_buffer+1) movlw 0xff movwf prevcod ; no button was pressed in the previous scan movlw 0xfc ;ca,cb=0,cj=1 movwf PORTB movlw 0xf0 tris PORTB movf PORTB, W bcf INTCON, RBIF sleep loop clrf cod movlw 0xfe tris PORTB ; select cola (RB0) clrf PORTB #ifdef MODE_CH8 clrw #endif #ifdef MODE_CH4 24

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