Multirotor Unmanned Aerial Vehicle. Jordan Barr Jacob Dean James Mixter

Transcription

1 Multirotor Unmanned Aerial Vehicle Jordan Barr Jacob Dean James Mixter

2 Outline Design Concepts and Requirements The UAV UAV Application Testing Future Study

3 Introduction Sponsored by Dr. Tarun Gupta, WMU Design an Unmanned Aerial Vehicle (UAV) Low Cost Open Source Foundation For Future Projects Collaboration with Consumers Energy Electromagnetic Interference(EMI) Radio Frequency Interference (RFI)

4 UAV Requirements 2 Identical Builds 4 Rotors 2.4 GHz 18 to 24 Inches Wide Less than 5 Pounds On Board Instrumentation GPS Compatible Easily Modified

5 The UAV Flight Controller Battery Frame Propellers Electronic Speed Controller (ESC) Motors Radio Receiver Telemetry

6 Flight Controller 3DR Pixhawk 32-Bit Autopilot System

7 Battery Bias 5000 (Large Battery 11.1V) 5000mAh 3 cells 14.7 oz Floureon 2200 (Small Battery 11.1V) 2200mAh 3 cells 6.05 oz

8 Frame F330 Fiber Glass Mini Quadcopter Frame Light Weight (145g) Power Distribution

9 Propellers 8 Carbon Fiber Propellers Light weight Strong Clockwise vs Counter Clockwise Lift Dual Vs Tri-Blades

10 Motor and ESC 1000 RPM per Volt Brushless 3 Phase Efficiency: 80% 30 Amp ESC PWM to 3 Phase Outputs at a continuous 30A Up to 40A burst for 10 Secs 70,000rpm

11 Transmitter and Receiver Flysky FS-i6 Transmitter 2.4GHz 6 channels FS-iA6 Receiver

12 3DR Telemetry Receiver and Transmitter 915 Mhz Allows for live feedback Orientation GPS Information Error Log Record Flight

13 Test Plan Electromagnetic Interference Harmful to On-Board Circuit Instrumentation Interference Radio Frequency Interference Disrupting Communication

14 Distance Test Free-space Path loss (FSPL) The loss in signal strength in a line of sight path. Transmitter operates at 2.4GHz Tested in Locations With Known Interference Compared Max Distances Under Different Conditions FSPL = 10 log 4πdf db c f is the signal frequency d is the distance from the transmitter m c is the spped of light x10 8 m s wmich. edu/~bazuinb/ece4600/ch03_3. pdf

15 B (mt) Electromagnetic Interference (EMI) Computer simulated expected outcome Using a Gauss meter data was collected from live power lines Distance (m)

16 B (µt) B (µt) Electromagnetic Interference (EMI) Distance (inch) Distance (inch)

17 Error Codes Flashing red and blue: Initializing gyroscopes.!! Hold the vehicle still and level while it initializes the sensors. Flashing blue: Disarmed, no GPS lock found. Autopilot, loiter, and return-to-launch modes require GPS lock. Solid blue: Armed with no GPS lock Flashing green: Disarmed (ready to arm), GPS lock acquired. Quick double tone when disarming from the armed state. Fast Flashing green: Same as above but GPS is using SBAS (so should have better position estimate). Solid green with single long tone at time of arming: Armed, GPS lock acquired. Ready to fly! Double flashing yellow: Failing pre-arm checks (system refuses to arm). Single Flashing yellow: Radio failsafe activated Flashing yellow with quick beeping tone: Battery failsafe activated Flashing yellow and blue with high-highhigh-low tone sequence (dah-dah-dahdoh): GPS glitch or GPS failsafe activated Flashing red and yellow with rising tone: EKF or Inertial Nav failure Flashing purple and yellow: Barometer glitch Solid Red: Error Solid Red with SOS tone sequence: SD Card missing (or other SD error like bad format etc.)

18 Results from Distance Test Range up to 1200 feet Control Power Lines Weather

19 Future Study Study the Effect of Weather on Signal Degradation Isolating RF Signals from Lines with Spectrum Analyzer Rather than Grouping both Interferences Together. Test both EMI and RFI levels from extremely high voltage lines (345 kv). Established Foundation for Future UAV Projects

20 Thank You Dr. Tarun Gupta, WMU Project Sponsor and Advisor Dr. Johnson Asumadu, WMU Faculty Advisor Dr. Dean Johnson, WMU Course Instructor Dr. Ralph Tanner, WMU Course Instructor Consumers Energy Advising/Partnership Matthew Henry Consumers Energy Collaborator Jeffrey Waltermire Consumers Energy Collaborator João Duarte EMF Simulation Advising