VTOL UAV. Design of the On-Board Flight Control Electronics of an Unmanned Aerial Vehicle. Árvai László, ZMNE. Tavaszi Szél 2012 ÁRVAI LÁSZLÓ, ZMNE

Transcription

1 Design of the On-Board Flight Control Electronics of an Unmanned Aerial Vehicle Árvai László, ZMNE

2 Contents Fejezet Témakör 1. Features of On-Board Electronics 2. Modularity 3. Functional block schematics, modules 4. Module details 5. Conclusion

3 Purchasing vs. developing Gap between professional and hobby quality on-board flight control electronics Non-conventional aircraft (VTOL * ) Non-conventional challenges ( * Vertical Take-Off and Landing) Cost sensitivity Contribution and Reuse of the Open Source Community s result Flexibility, expandability

4 Features of On-Board Electronics Stability and Navigation of aircraft Payload control Power supply Energy management Communication: telemetry and remote control Flight data logging Small size, low power consumption Reliability, robustness HIL (Hardware-in-the-loop) simulation capability Expandability, flexibility Modular design

5 Modularity Software and Hardver modularity together Common HW, SW interface between modules Divide task among modules Easier testing Closed inter-module bus (communication, power supply) Independent external bus for external units Reliable electrical connection between modules Mechanical fixing of modules

6 Module concept Well defined task hardware+software=module Contains microcontroller Same electrical connection and mechanical footprint (except base board) Several modules can be stacked Connects to the internal I 2 C bus Powered from the internal bus

7 Block Schematics Flight Control Module Inertial Measurement System (acceleration, gyro, magnetic) Base Board Internal I 2 C bus(2x) Communication Module Communication (telemetry, remote control) Barometric altitude EnergySupply& Management Flight Data Recorder Flight Stability External Interfaces (R/C remote controller, servo, I 2 C, CAN, digital, analog) GPS module Navigation External I2C bus External CAN bus Satelite Navigation (GPS)

8 Base Board Two socket for modules Power supply Overload protection Current consumption (power) measurement Battery voltage monitoring and power management 6 db R/C servo output PPM R/C receiver input Bridge between the internal I 2 C bus and external I 2 C, CAN buses Digital outputs (2) Analog inputs (3)

9 Communication module Short range (WiFi, Bluetooth) communication to the base station for development Long range (RF, GSM) communication for the final usage Transmit telemetry data Receive commands Flight data logging onto microsd card USB interface for HIL tests or for the configuration Built in microcontroller for the wireless TCP/IP stack and for other functionality of the card Communication over the internal I 2 C bus

10 Flight Control Module Strap-down inertial measurement unit(imu) 3-axis, 16-bits giro(l3g4200d) 3-axis 16-bites acceleration sensor (LSM303DLH) 3-axis 16-bites magnetic field sensor (LSM303DLH) Barometric altitude sensor (MPXH6115) 32-bits, 80MIPS microprocessor for data processing Connection to the internal I 2 C bus USB interface for calibration and setup

11 GPS Module GPS features: SUP500F GPS module Built-in smart antenna Venus6 chip 10Hz-es data rate 2.5m accuracy(cep) Module features: Microcontroller for on-board data processing On-board NMEA protokol interpretation Connection to the internal I 2 C bus

12 Conclusions Designed among functionality Modularity is essential One module contains hardware and software Flexible configuration Minimal level of redundancy and failure resistance Low cost, small size, low power consumption Interchangeable modules makes it versatile and flexible

13 Thank You for Your Attention!