EDGE™ MAV Control System - P09122 Final Project Review Erik Bellandi – Project Manager Ben Wager – Lead Engineer Garrett Argenna – Mechanical Engineering Michael Pepen – Electrical Engineering Tahar Allag – Electrical Engineering Ramon Campusano – Computer Engineering Stephen Nichols – Computer Engineering

EDGE™ Contents Background Objectives & Deliverables MSD I Achievements MSD II Achievements Recommendations

EDGE™ Background Past –Focused on small scale surveillance. Future –MAV rules have changed so now focus is on autonomy with small size being secondary. –Fly autonomously indoors and outdoors –Goal is to compete in the EMAV competition MIT Autonomous UAV Aerobatics Project MAV 2006 Model

EDGE™ Project Objectives & Deliverables Product Description / Project Overview To design and build a flight control system for the Micro Aerial Vehicle, that will most quickly lead to a fully autonomous system. Key Business Goals / Project Deliverables Primary Goals: – Make the MAV as autonomous as possible. Achieve desired flight qualities. –Stabilize if unstable or increase damping Adaptable Fully Tested and Integrate with Platform Secondary Business Goal: – Able to compete in the EMAV Competition.

EDGE™ MSD I Accomplishments Detailed Design

EDGE™ Control System Concept Stability Augmentation System Autopilot System Stability Augmentation System: –If an airplane is marginally stable or unstable, the SAS can provide proper vehicle stability –Ensure the plane has the appropriate handling qualities; additional damping can be incorporated using a pitch, roll and yaw damper. Autopilots: Reduce Pilot Workload –Attitude Hold – Maintain desired roll, pitch and heading –Altitude Hold – Maintain desired altitude –Velocity Hold – Maintain desired velocity

EDGE™ Overall System Architecture

EDGE™ Detailed System Diagram

EDGE™ PCB Physical Layout Design

EDGE™ Test Stand Design

EDGE™ MSD II Accomplishments

EDGE™ Platform Simulation & Control System Open-loop Simulations Stability Augmentation System Preliminary Autopilot Simulations

EDGE™ Electronics Board PCB Design Final Electronics Actual Picture

EDGE™ Sensors GPS and IMU Test Drive Data Temperature and Pressure Data Video

EDGE™ Test Stand Actual Picture -what we have of test stand, electronics and “safety box”

EDGE™ Special Features Wireless Communication –Real-time short-range data transmission of flight data Flight Data Post-Processing –GPS and IMU Data overlay on Google Earth –Convert all flight data to plain text (Matlab compatible) SD Card Functionality –Record all raw and calculated flight data –Easily load and initialize control system configuration on-the-fly Initialization Status LED’s –Display status and error codes for Control System, GPS and IMU Test Stand –Feedback Control (Matlab Serial communication) –Wireless communication (Test Stand Data)

EDGE™ Target Specifications List of Metrics #MetricImportanceUnitsAccomplished?Comments 1Recover from 5mph gust4Mph, m/sNSimulated but not tested 2Fly straight and level within a meter over a distance of 50 m 5m, ftNSimulated but not tested 3Have at least 6 changeable parameters 8#Y4 SAS gains, >6 Autopilot Gains for future teams 4Weight less then 0.5 kg.7kg, lbYWeight = kg 5Fit within MAV platform 2.25”x2.25”x8” 6in, cmYFinal size: 2.1” x 1.1” x 5.25” 6All testing matrices completed1#NDelays in test stand manufacturing 7Receive and process remote signal 2Y/NY6 channel receiver including override for S.A.S. 8Transmit data to ground unit9ListYStoring data to SD card 9Process and use data from all sensors 3Y/N – ListY5 sensors with 9 measured parameters 10Determine it’s position within 1 meter 10m, ftNGPS within 2.5 m, IMU calculations need verification 11Fly a designated pattern within 2 meters 11m, ftNAttitude and position holds needed for future projects

EDGE™ Weight

EDGE™ Cost Breakdown Sensors$ Controller$ Video$55.77 Kit Planes$ Test Stand$ Total Cost:$2,247.64

EDGE™ Recommendations PCB could be refined for size and weight Test onboard sensor calculation using test stand DATCOM may be more useful with further research Research Robust and Non-Linear Controls Higher Quality Video Better GPS units available Look into additional telemetry (2-way comm.)

EDGE™ Questions?