paper presentation at international conference on unmanned aircraft systems 2013

Small Scale UAV with Birotor Configuration

Small Scale UAV with BirotorConfiguration

F. S. Goncalvesa, J. P. Bodanesea, R. Donadela, G. V. Raffob, J. E.Normey-Ricoa, L. B. Beckera

a Department of Automation and SystemsFederal University of Santa Catarina - Brazil

b Department of Electronic EngineeringFederal University of Minas Gerais - Brazil

The 2013 International Conference on Unmanned Aircraft Systems,May 30, 2013

Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 1

Outline

1 Introduction

2 Methodology

3 Model the Physical Processes (Step 2)

4 Hardware Specification (Step 6)

5 System Modelling (Step 3)

6 Conclusions and Future Works

Introduction

Outline

1 Introduction

2 Methodology

Introduction

IntroductionProposed UAV Description

Base station possible actions:

⇒ Configure a mission.

⇒ Start an autonomous flight.

⇒ Abort a mission.

⇒ Monitor flight information.

⇒ Perform verification tests inthe UAV.

The UAV has 3 operation modes:

⇒ Autonomous flight mode.

⇒ Safe mode.

⇒ Maintenance mode.

Introduction

IntroductionProposed UAV Description

Base station possible actions:

⇒ Configure a mission.

⇒ Start an autonomous flight.

⇒ Abort a mission.

⇒ Monitor flight information.

⇒ Perform verification tests inthe UAV.

The UAV has 3 operation modes:

⇒ Autonomous flight mode.

⇒ Safe mode.

⇒ Maintenance mode.

Introduction

Motivation

⇒ Absence of a guide/tutorial for building the UAV;

⇒ Existing aircrafts are a black blox;

Introduction

IntroductionTiltrotor UAV

Physical System

⇒ Rotors can tilt longitudionally

⇒ Fixed tilt angle laterally

⇒ Center of mass displaced in the Z axis

System’s characteristics

⇒ Underactuated mechanical systems

⇒ Highly nonlinear and time varyingbehavior

Introduction

IntroductionPaper’s Goals

Describe the design methodology used to guide the project;

Present a preliminary mathematical model of the forces and torquesthat generate the montion of the UAV;

Detail the embedded computing platform;

Presents and discusses the computational model created to representthe design and support simulation activities.

Methodology

Outline

1 Introduction

2 Methodology

Methodology

”A model-based design methodology for cyber-physical systems.”,published by J. Jensen, D. Chang, and E. Lee.

The methodology consists of 10 steps:

⇒ Step 1: State the Problem

⇒ Step 2: Model the Physical Processes

⇒ Step 3: Characterize the Problem

⇒ Step 4: Derive a Control Algorithm

⇒ Step 5: Select Models of Computation

⇒ Step 6: Specify Hardware

⇒ Step 7: Simulate

⇒ Step 8: Construct

⇒ Step 9: Synthesize Software

⇒ Step 10: Verify, and Validate, and Test

Methodology

Model the Physical Processes (Step 2)

Outline

1 Introduction

2 Methodology

Mathematical Modeling for Control Purposes

[0 0 fR

]F LL =

[0 0 fL

f BRxf BRyf BRz

−sin(αR)cos(β)sin(β)

cos(αR)cos(β)

fR (1)

f BLxf BLyf BLz

−sin(αL)cos(β)−sin(β)

cos(αL)cos(β)

fL (2)

[0 0 fR

]F LL =

[0 0 fL

f BRxf BRyf BRz

cos(αR)cos(β)

fR (1)

f BLxf BLyf BLz

cos(αL)cos(β)

fL (2)

[0 0 fR

]F LL =

[0 0 fL

f BRxf BRyf BRz

cos(αR)cos(β)

fR (1)

f BLxf BLyf BLz

cos(αL)cos(β)

fL (2)

Mathematical Modeling for Control PurposesTorque around Z axis

τψ = τfRx + τfLx + τRzdrag + τLzdrag

τψ = (f BRx − f BLx)l + kτ (Ω2Rcos(αR) − Ω2

Lcos(αL))cos(β)

τψ = [(sin(αL)fL − sin(αR)fR)cos(β)l + kτ (Ω2Rcos(αR)

− Ω2Lcos(αL))cos(β)

Torque around Z axis.

Mathematical Modeling for Control PurposesTorque araund Y axis

τθ = τfRx + τfLx + τRydrag + τLydrag

τθ = (f BRx + f BLx)rz + kτ (Ω2R − Ω2

L)sin(β)

τθ = −(sin(αR)fR + sin(αL)fL)cos(β)rz

+ kτ (Ω2Rcos(αR) − Ω2

Lcos(αL))sin(β)

Torque around Y axis.Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 13

Mathematical Modeling for Control PurposesTorque araund X axis

τφ = τfRz + τfLz + τRxdrag + τLxdrag

τφ = (f BLz − f BRz)cos(γ)l′

+ kτ (Ω2Lsin(αL) − Ω2

Rsin(αR))cos(β)

τφ = (cos(αL)fL − cos(αR)fR)cos(β)cos(γ)l′

+ kτ (Ω2Lsin(αL)

− Ω2Rsin(αR))cos(β)

Torque around X axis.Goncalves, Bodanese, Donadel, Raffo, Normey-Rico, Becker Small Scale UAV with Birotor Configuration ICUAS’2013 14

Hardware Specification (Step 6)

Outline

1 Introduction

2 Methodology

System ArchitectureAutonomous Flight Support Equipment

Specified hardwares to meetthe requirements

⇒ Inertial Measurement Unit(IMU)

⇒ Global Positioning System(GPS)

⇒ Ultrasonic sensor

⇒ Brushless motor andpropeller (rotor)

⇒ Servomotor

System ArchitectureEmbedded Platform

Features considered for the developmentplatform:

⇒ Performance

⇒ Communication interfaces

⇒ Size

⇒ Support for wireless communication

⇒ Low Cost

Chosen platform: Beaglebone

System ArchitectureCommunication Structure

MRF24J40MC

⇒ Produced by Microchip;

⇒ Implements the 2.4 GHz IEEE 802.15.4;

⇒ Range up to 4000 ft.

⇒ Uses the Serial Peripheral Interface (SPI) ascommunication protocol;

System ArchitectureCommunication Structure

Communication layers structure

6LowPanAdaptation Layer

Transport

Applications

MRF24J40MC

Kernel Space

User Space

System Modelling (Step 3)

Outline

1 Introduction

2 Methodology

Simulink Model

Main structure

Base station

Simulink Model

Main structure

Base station

Simulink ModelUAV Model

Data Processing Subsystem

Composed of the sensors, actuators and the transformation of theraw data to the measurement unit expected of each component

Transformation of the raw data

Continous Control Subsystem

Conclusions and Future Works

Outline

1 Introduction

2 Methodology

Paper contribution:

⇒ Building the airframe;

⇒ Covering the methodologysteps on the project;

⇒ Communicating the sensorswith the embedded platform

⇒ ProVant website http:

//provant.das.ufsc.br;

Future work:

⇒ Design and validation ofdifferent control strategies;

⇒ Real-time behavior on thecomputation platform;

Paper contribution:

⇒ Building the airframe;

⇒ Covering the methodologysteps on the project;

⇒ Communicating the sensorswith the embedded platform

⇒ ProVant website http:

//provant.das.ufsc.br;

Future work:

⇒ Design and validation ofdifferent control strategies;

⇒ Real-time behavior on thecomputation platform;

Thank you for your attention

Questions?

Contacts

goncalves@das.ufsc.brlbecker@das.ufsc.br

paper presentation at international conference on unmanned aircraft systems 2013

hardware step

problem step

construct step

software step

becker csmall scale

physical processes step

uav descriptiongonalves

hardware specication

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