Ground Control Station Flight conTrol

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Presentation transcript:

Ground Control Station Flight conTrol Tim Molloy

Ground Control Station HLO-5 Ground Control Station SR-B-02 Flight Mode Switching Flight Control Widget SR-B-08 and 09 Receive and Transmit Telemetry via WLAN Communications and Vicon Threads; Gains and Parameter Widgets SR-D-07 and 08 Log Telemetry and Uplink Commands Received and Transmit Consoles and Data Logger SR-D-09 Display of State and Control Data Data Plotters & Artificial Horizon SR-D-10 System Status Display System Status Widget 06332064 Tim Molloy

GCS Design (Architecture) 06332064 Tim Molloy

GCS Implementation (User Interface) 06332064 Tim Molloy

GCS Acceptance Testing HLO-5 Ground Control Station SR-B-02 Flight Mode Switching AT-02 SR-B-09 and 08 Receive and Transmit Telemetry via WLAN AT-08 AT-09 SR-D-07 and 08 Log Telemetry and Uplink Commands AT-17 and AT-18 SR-D-09 Display of State and Control Data AT-19 SR-D-10 System Status Display AT-20 06332064 Tim Molloy

HLO-4 Autonomous Hovering Flight Flight Control HLO-4 Autonomous Hovering Flight SR-B-10 PID Control Methodology Control Architecture SR-D-03 Stability Augmented Flight Attitude Control Static Angle Setpoints Dynamic Angle Setpoints Dynamic Angular Rate Setpoints SR-B-03 50Hz Control Rate Control and Mode Control Unit Flight Computer Update Rate SR-D-04 Autonomous Station-keeping Guidance 06332064 Tim Molloy

Quadrotor Control Thrust Altitude Control Forces Thrust Roll Control Forces Thrust Pitch Control Forces Drag Yaw Control Forces Tim Molloy

Flight Control (System Architecture) Position Control Attitude Control 06332064 Tim Molloy

Static Angle Based Attitude Control Developed in simulator Implemented and Tested in Test Rig Did not afford attitude control and removed safety pilot from loop

Angle Based Attitude Control

Dynamic Rate Based Attitude Control

Altitude Control

Flight Control Acceptance Testing HLO-4 Autonomous Hovering Flight SR-B-10 PID Control Methodology AT-10 SR-D-03 Stability Augmented Flight AT-13 SR-B-03 50Hz Control Rate AT-03 SR-D-04 Autonomous Station-keeping AT-14 06332064 Tim Molloy

Lessons Learnt GCS Control Emphasis on modular design, unit testing and documentation tools to maximise code reuse Avoidance of “from scratch” development Control Separation of State Estimation and Controller Testing Reliance on controller designs based on proven implementations rather than simulations Limitations on use of testing apparatus to mitigate risks Effects of PWM resolutions on control performance Avoidance of USART Update Limitations in Control 06332064 Tim Molloy