1. Altitude control for a flight system
Christian Müller

2. Agenda Motivation Basics Sensors Hardware-structure Altitude control
Models and simulation
Ultrasonic sensor
Conclusion

3. Motivation Wide range of applications
Observation, inspections, measurements
Cost and resource savings
Protection of human life

4. Basics Micro-copter Functions: Take off / land Hover
Control position and height
Collision avoidance
Payload

5. Sensorsystems GPS and compass LEA-6S (ublox), CMPS03 (Devantech)
Acceleration and gyroscopes
LIS344ALH (STMicroelectronics), Murata ENC-03
Air pressure
MPX 4115A (Freescale)

6. Hardware-structure
ATmega644P
Sirf Atlas V
Operating systems

7. Altitude control Formulas Model (MLDesigner) Simulation Code MC
(Atmega)

8. System model

9. Controller Proportional Integral Derivative Types of controllers:
System

10. Simulation

11. Simulation

12. Ultrasonic sensor SRF 05 Specific problems:
Detection of different materials (fleece)

13. Ultrasonic sensor
Reflexions

14. Ultrasonic sensor
Echos from distant objects
OUT IN

15. Conclusion Simulation Control unit design Hardware
Implementation / test
Equal steps for other control systems (position, …)