The JAviator Flight Control System

Slides:

Advertisements

Similar presentations

Gliders Flight Stability

Advertisements

Qball-X4 Simulator Seang Cau February 16, 2011.

TEAM 9 - MRAV DESIGN CONSTRAINTS ANALYSIS by Nick Gentry.

Outline quad-copter Abstract Quad-Copter Movement Hand movement

Position and Attitude Determination using Digital Image Processing Sean VandenAvond Mentors: Brian Taylor, Dr. Demoz Gebre-Egziabher A UROP sponsored research.

Principles of Flight Chapter 6 – Helicopters. Introduction A helicopter generates both lift and thrust by using its rotor blades rather than wings. Blades.

How to Build Practical Quadrotor Robot Helicopters Paul Pounds DERF 08.

Matt McKeever Jonathan Baker UAV Design Team 11/16/2006

Reegan Worobec & David Sloan In collaboration with UAARG.

The Mechatronics Design Lab Course at the University of Calgary Presented June 2, 2003.

METEOR Guidance System P07106 Nov 2006 – May 2007 Project Review.

NSF Workshop on Biosensor and Bioactuator Resarch Xinyan Deng Bio-Robotics Laboratory Department of Mechanical Engineering University of Delaware

Rotational Motion Stability and Control.

Airborne Gravity Processing 101 Sandra Preaux

Embedded Microcomputer Systems Andrew Karpenko 1 Prepared for Technical Presentation February 25 th, 2011.

Quadcopters. History Also known as quadrotors First flying quadrotor: – 11 November 1922 – Etienne Oehmichen Image: blogger.com.

FLIGHT COMPUTER (FC) Liam O’Sullivan HLO-4 Autonomous Hovering Flight SR-D-05 and 06 Receive and process sensor data (50 Hz) IMU Compass.

Owen Macmann, Aerospace Engineering, Pre-Junior, University of Cincinnati Devon Riddle, Aerospace Engineering, Junior, University of Cincinnati Mahogany.

Sérgio Ronaldo Barros dos Santos (ITA-Brazil)

Flight Concept Web Project By: Josh Science #

Bianca Wood Chris Culver Shane Parker Yousef Al-Khalaf.

Owen Macmann, Aerospace Engineering, Pre-Junior, University of Cincinnati Devon Riddle, Aerospace Engineering, Junior, University of Cincinnati Mahogany.

OUT OF CONTROL Forces on a plane in flight.. Plane Flying FORCES ON A PLANE IN FLIGHT.

Fundamentals of Flight Transportation Mr. O. Structure of an Aircraft: Thrust is generated by a propeller or jet turbines.

Ground Control Station Flight conTrol

MARK WILSON UNIVERSITY OF JOHANNESBURG DEPARTMENT OF ELECTRICAL AND ELECTRONIC ENGINEERING STUDY LEADER – PROF. FRANCOIS DU PLESSIS.

David Gitz, EE, ICARUS Lead Engineer.  Michael Welling  PhD Candidate  ICARUS Vehicle Engineer  Ben Wasson  Masters Student  ICARUS Business Manager.

Students: Chen-Jay Xu Zheng-Xian Hung Advisor: Ru-Li Lin.

FINAL PROJECT FEA OF A WING OF FIGHTER PLANE

How do aeroplanes move?? The historic flashback.

Presented by:- Suman Kumar. INTRODUCTION : Quad-rotor helicopters are emerging as a popular unmanned aerial vehicle configuration because of their simple.

FUFO project Final report.

Final Design Team 6 December 2 nd, UAV Team Specializations David Neira – Power & Propulsion Josiah Shearon – Materials Selection & Fabrication.

Gliders in Flight Stability for Straight and Level Flight.

Computer Vision Group Prof. Daniel Cremers Autonomous Navigation for Flying Robots Lecture 1.1: Welcome Jürgen Sturm Technische Universität München.

Group Members Richard George – Industrial Technology Mike Svendsen – Computer Engineer Steve Towey – Computer Engineer Brian Walker – Architect Client.

Quadcopters A CEV Talk. Agenda Flight PreliminariesWhy Quadcopters The Quadcopter SystemStability: The NotionSensors and FusionControl AlgorithmsThe Way.

Ground Control Station Flight conTrol

David Gitz, EE, ICARUS Lead Engineer Design Review.

By: Stuti Vyas( ) Drashti Sheth( ) Jay Vala( ) Internal Guide Mr. J. N. Patel.

Amphibious Spherical Explorer Kaiwen Chen, Zhong Tan, Junhao Su ECE 445 Spring 2016, Project 30 TA: Luke Wendt May 1, 2016.

Autonomous Quadcopter Andrew Martin, Baobao Lu, Cindy Xin Ting Group 37 TA: Katherine O'Kane.

Establishing and Maintaining Formations of Mini Quadrotors Audrow J. Nash, Cory M. Engel, James M. Conrad William Lee College of Engineering University.

Project METEOR – R.I.T. Satellites!!. Project METEOR – R.I.T. Overview of Project METEOR: METEOR Video

High Altitude Rocket Project School of Science and Engineering | Integrated Project Mjölnir.

Presented By: FERHAN JAMAL ROLL NO (E.C. Final Year) 1.

Micro-CART SDongo3b Secondary Vehicle Team April 26, 2006

The JAviator Project Rainer Trummer Computer Sciences Workshop '06

Silviu S. Craciunas, Christoph M. Kirsch,

FBW – Introduction The FBW architecture was developed in 1970’s

Rainer Trummer Computer Sciences Workshop ‘08

The JAviator Quadrotor An Aerial Software Testbed

RealFlight Shaw STEM Lab 2016.

Matthias Faessler, Davide Falanga, and Davide Scaramuzza

Applied Dynamics - Assignment

Segway Fault Patrick Lloyd Undergraduate Student

Quadrotor and its Control

Airplane Shaw STEM Lab 2017.

Airframe Measurements P09233

Stability for Straight and Level Flight

Dynamics of a car/airplane

Introduction to Computer Science Seminar - I

Presentation Name Stability for Straight and Level Flight

Throttle, Yaw, Pitch, Roll

Stability for Straight and Level Flight

W L CG Dynamics Moment of Inertia LabRat Scientific © 2018.

Portuguese Naval Academy Weapons and Electronics Department

Presentation transcript:

The JAviator Flight Control System Rainer Trummer Computer Sciences Workshop ‘09 Department of Computer Sciences University of Salzburg, Austria

Introduction The JAviator Quadrotor Quadrotor Dynamics Thrust Dynamics Altitude Control Improvements Videos

The JAviator Quadrotor

The JAviator Quadrotor

The JAviator Quadrotor Total diameter (over spinning rotors): 1.3 m Empty weight (including electronics): 2.2 kg Max lift capacity (flyable with 4.4kg): 5.6 kg

Quadrotor Dynamics: Basics

Quadrotor Dynamics: Basics

Quadrotor Dynamics: Basics

Quadrotor Dynamics: Altitude

Quadrotor Dynamics: Altitude

Quadrotor Dynamics: Altitude

Quadrotor Dynamics: Altitude

Quadrotor Dynamics: Altitude

Quadrotor Dynamics: Altitude

Quadrotor Dynamics: Roll

Quadrotor Dynamics: Roll

Quadrotor Dynamics: Roll

Quadrotor Dynamics: Roll

Quadrotor Dynamics: Roll

Quadrotor Dynamics: Roll

Quadrotor Dynamics: Roll

Quadrotor Dynamics: Roll

Quadrotor Dynamics: Roll

Quadrotor Dynamics: Roll

Quadrotor Dynamics: Roll

Quadrotor Dynamics: Roll

Quadrotor Dynamics: Roll

Quadrotor Dynamics: Pitch

Quadrotor Dynamics: Pitch

Quadrotor Dynamics: Pitch

Quadrotor Dynamics: Pitch

Quadrotor Dynamics: Pitch

Quadrotor Dynamics: Pitch

Quadrotor Dynamics: Pitch

Quadrotor Dynamics: Pitch

Quadrotor Dynamics: Pitch

Quadrotor Dynamics: Pitch

Quadrotor Dynamics: Pitch

Quadrotor Dynamics: Pitch

Quadrotor Dynamics: Pitch

Quadrotor Dynamics: Yaw

Quadrotor Dynamics: Yaw

Quadrotor Dynamics: Yaw

Quadrotor Dynamics: Yaw

Quadrotor Dynamics: Yaw

Quadrotor Dynamics: Yaw

Quadrotor Dynamics: Yaw

Quadrotor Dynamics: Yaw

Quadrotor Dynamics: Yaw

Quadrotor Dynamics: Yaw

Quadrotor Dynamics: Yaw

Quadrotor Dynamics: Yaw

Quadrotor Dynamics: Yaw

Thrust Dynamics

Thrust Dynamics

Thrust Dynamics

Thrust Dynamics

Thrust Dynamics

Thrust Dynamics

Thrust Dynamics

Thrust Dynamics

Thrust Dynamics

Thrust Dynamics

Thrust Dynamics

Thrust Dynamics

Altitude Control

Altitude Control

Altitude Control

Altitude Control

Altitude Control

Altitude Control

Altitude Control

Altitude Control

Altitude Control

Altitude Control

Flying the JAviator

Improvements Hardware Software More sophisticated sonar sensor at 100 Hz IMU set to 100 Hz to match sonar frequency Motor signals with Fast PWM at 250 Hz Software Controllers extended from PID to PIDD Acceleration term used for dampening More complex filtering incorporated

The Great Break-Through

Thank You! Questions?