1. EDGE™ MAV Control System - P09122 - Final Design 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

2. EDGE™ Contents Objectives & Deliverables Detailed Design –Logic Controller –Sensors –Control System –Test Stand –Power, Weight and Cost Design Specifications Plan for MSD II

3. 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 2010 EMAV Competition.

4. EDGE™ Detailed Design

5. EDGE™ Overall System Architecture

6. EDGE™ Detailed System Diagram

7. EDGE™ Logic Controller Design FPGA with microcontroller core –Open-source Plasma CPU core License issues with prior Altera Nios Core –Dual core: Control system core Sensor communication core –UART communication (GPS sensor ) –SPI communication (IMU and SD card) –SD communication Load programs from SD Record sensor data –PWM communication (Pilot Input and Servo Output)

8. EDGE™ FPGA System Diagram

9. EDGE™ Logic Controller Prototype and Testing Open Source Plasma CPU core –Instantiated core on FPGA –Tested UART communication between PC and Plasma core SD communication –Initialized SD card into SPI mode –Read MBR and FAT16 –Implemented file read capability PWM –Implemented and tested PWM feed-through

10. EDGE™ Sensor Design Sensors –IMU Acceleration Sensitivity: 2.5 mg’s/LSB Rotation Sensitivity: 0.07deg/sec /LSB –GPS Accuracy:<2.5m Update Rate: <0.1s –Airspeed: Pitot-Static Probe 0 - 0.3 PSI Differential Pressure (Airspeed) Sensitivity: 1 V/kPa –Altitude 2.2 – 18.9 PSI Absolute Pressure (Altitude) Sensitivity: 39.2 mV/kPa –Temperature: Omega Thermistor –Video Camera System

11. EDGE™ PCB Physical Layout Design

12. EDGE™ System Circuit Diagram

13. EDGE™ Pressure Sensor Calculations Airspeed Calculation: –Bernoulli: Altitude Calculation: –Hydrostatic Pressure: At Cruise: v = 30 mph, ΔP = 109 Pa, ΔP = 108 Pa, v = 29.88 mph Resolution :0.12 mph at cruise For 10 ft change: ΔP = -0.036 kPa

14. EDGE™ Pitot-Static Tube United Sensor Inc: –Commercially Available –Custom Lengths –Very Small –Light Weight –Removable Connectors –Mount through wing tip

15. Video Camera System Specs –Weight:85 g –Range:1.5 km –Resolution:420 Lines –Power:9V Battery

16. EDGE™ Control System Concept Requirements: –Receive All Inputs (Pilot Input & Sensor Input) –Create Desired Flight Qualities (Stabilize or increase damping) –Command Surfaces (Flaperons, Elevator, Rudder & Thrust) –Compensate for Environment (Disturbance) –Adaptable for Different Platforms Concepts: –Inner-Loop rate feedback for Stability Augmentation –Autopilot controls to maintain attitude, altitude & airspeed

17. EDGE™ Control System Concept 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. Autopilot: Reduce Pilot Workload (Time Permitting) –Attitude Hold – Maintain desired roll, pitch and heading –Altitude Hold – Maintain desired altitude –Velocity Hold – Maintain desired velocity

18. EDGE™ Flight Dynamics Analysis Force Equations: Moment Equations: Body Angular Velocities:

19. EDGE™ Flight Dynamics Analysis Dynamic Modes: –Longitudinal Motion Phugoid (Long Period) Short Period –Lateral Motion Spiral Mode Roll Mode Dutch Roll Mode

20. EDGE™ Ex: Short Period Mode Longitudinal Motion –Heavily damped longitudinal motion with a period of a few seconds –Characterized by a change in angle of attack and pitch rate –If heavily damped or has a high frequency, aircraft responds to elevator input with no overshoot –If lightly damped or has a low frequency, aircraft will be difficult to control –Approximate State-Space Model:

21. EDGE™ Flight Dynamics Analysis Desired Flight Qualities –Based on DoD and FAA aircraft flight quality specs Flight Quality Specifications For out Application ModeMetricMinMax Phugoid Mode Damping Ratio, ζ 0.04- Short-period Mode Damping Ratio, ζ sp 0.302.00 Spiral Mode Time to Double Amplitude (sec), t d 1.40- Roll Mode Roll Time Contsant (sec), τ -1.40 Dutch Roll Mode Damping Ratio, ζ* 0.08- Dutch Roll Mode Natural Freqency (rad/sec), ω n 0.40- Dutch Roll Mode Magnitude of real part of complex root, ζω n * 0.15- * Which ever criteria yields the larger value of ζ

22. EDGE™ Flight Dynamics Analysis Test Case: F-16 Aircraft –Open-Loop “Unaugmented” Flight Qualities

23. EDGE™ Overall Control System Concept Stability Augmentation System Autopilot System

24. EDGE™ Short Period Mode with Control System Stability Augmentation System –Rate Feedback –Angle of Attack –Pitch Rate –Closed-loop State-Space A Matrix:

25. EDGE™ Flight Dynamics Analysis Test Case: Gain Calculations for Short Period Mode: –Calculated to achieve Level 1 flight qualities for Category A, Class IV

26. EDGE™ Detailed System Model

27. EDGE™ Open-Loop System Trimmed Flight Simulation

28. EDGE™ Simulation with & without Stability Augmentation Elevator deflection to show short period mode

29. EDGE™ Test Stand Design

30. EDGE™ Test Stand Architecture

31. EDGE™ Test Stand Motor and Encoder Circuit Diagram

32. EDGE™ Test Stand Electronics Circuit Diagram

33. EDGE™ Power Budget

34. EDGE™ Weight

35. EDGE™ Cost Breakdown Sensors$841.36 Controller$610.02 Video$55.77 Kit Planes$200.00 Test Stand$752.25 Total Cost:$2459.40

36. EDGE™ Design Specifications

37. EDGE™ Establish Target Specifications List of Metrics #MetricImportanceUnitsAccomplished?Comments 1Recover from 5mph gust4Mph, m/sDepends on System Damping 2Fly straight and level within a meter over a distance of 50 m 5m, ftImplement Attitude Holds 3Have at least 6 changeable parameters 8#Currently have 4 changeable gains, more to follow 4Weight less then 0.5 kg.7kg, lbYWeight = 0.4461 kg 5Fit within MAV platform 2.25”x2.25”x8” 6in, cmYEstimated size: 2” x 2” x 2” 6All testing matrices completed1#MSD II 7Receive and process remote signal 2Y/NY6 channel receiver including override for S.A.S. 8Transmit data to ground unit9ListStoring 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, ftGPS within 2.5 m, coupled with IMU 11Fly a designated pattern within 2 meters 11m, ftInvestigating attitude and position holds

38. EDGE™ MSD II Plan & Future Work

39. EDGE™ Unfinished MSD I Actions Get aerodynamics coefficients from Datcom –Ran into problems using Datcom –Everything else is dependent on aerodynamic coefficients Develop Continuous Control Gains Discretize System Model Develop Discrete Control Gains Generate Control Law Code

40. EDGE™ Current Schedule & Progress

41. EDGE™ Risk Assessment RiskProbabilitySeverityOverall RiskMitigation Component Interfacing LowHighMedThoroughly research all components and datasheets Damage when interfacing electronics LowHighMedAgain thoroughly research components and datasheets and Difficulty Discretizing Control System LowHighMedResearch digital controls and consult with faculty Having hardware soon enough to prototype and test Med Complete component selection as soon as possible and order Test Stand SafetyLowHighMedTest stepper motor driver with motor unattached, test procedures, protective cover for test stand, and emergency stop Other team’s delays prevent integration Low Test system with test fixture and flight testing with either OTS kit plane or previous year’s MAV platform.