team 01 : quadsquad safety and reliability andrew boldt 11/6/2013 the ece quadcopter senior design...
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Team 01 : QuadSquadSafety and Reliability
Andrew Boldt
11/6/2013
the ECE quadcopter senior design project @ Purdue University
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Abstract
• Android controlled quadcopter• Bluetooth connection (~300 foot range)• GPS, compass, ultrasonic, battery monitor• Brushless DC motors with speed controllers• PWM input flight controller board for stabilization• Waypoint navigation & auto take-off/land
the ECE quadcopter senior design project @ Purdue University
11/6/2013
3the ECE quadcopter senior design project @ Purdue University
11/6/2013
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Project-Specific Success Criteria
An ability to …• determine the position of the quadcopter using GPS• control the copter using an Android device over a Bluetooth
interface• automatically take-off and land• fly-by-waypoint using GPS coordinates• monitor the state of battery charge and relay back to user
11/6/2013
the ECE quadcopter senior design project @ Purdue University
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Criticality Levels
• Total Quadcopter Meltdown– Battery/ESC/Flight Controller short– Severe impact to flight– Crash into person– λ < 10^-9– Criticality Level I
• Basic Component Failure– Micro/GPS/MAG/ULTRA failure– Quadcopter hovers– λ < 10^-6– Criticality Level IV
11/6/2013
the ECE quadcopter senior design project @ Purdue University
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Components Monitored
• Microcontroller• Power Supply Chip• Line Level Chip• ESC’s
11/6/2013
the ECE quadcopter senior design project @ Purdue University
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FMECA - Micro
Failure No.
Failure Mode Possible Causes Failure Effects Method of Detection
Criticality Remarks
A1 No I/O Micro held in resetNo power to micro
No operation Sensor Reading IV
A2 No PWM Improper commandNo power to microMicro held in reset
No Flight Flight Controller
IV
A3 No Power No power to microPower supply short
No Operation Visual/DMM IV
11/6/2013
the ECE quadcopter senior design project @ Purdue University
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FMECA - Power
Failure No.
Failure Mode Possible Causes Failure Effects Method of Detection
Criticality Remarks
B1 0V Output ShortedNo Battery
No Power Visual IV
B2 3.3 V Output/0A Chip Failure No Power Visual/DMM IV
B3 Very Noisy Capacitor failure Readings SkewedMicro Reset
Oscilloscope/Power cycling
IV
11/6/2013
the ECE quadcopter senior design project @ Purdue University
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FMECA - Line
Failure No.
Failure Mode Possible Causes Failure Effects Method of Detection
Criticality Remarks
C1 No PWM Output Micro/ESC power No signal
No Flight Visual IV
C2 Inverted PWM Chip malfunctionWrong input V
Opposite Flight Visual/Flight Controller
II
11/6/2013
the ECE quadcopter senior design project @ Purdue University
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FMECA – ESC’s
Failure No.
Failure Mode Possible Causes Failure Effects Method of Detection
Criticality Remarks
D1 0V Output ShortMotors pullingNo power
No operation Visual III
D2 Wrong Speed Command
MiscalibrationWrong Flight Controller Command
Wild Loss of Control
Visual II
D3 Fire OvercurrentShortOverheat
Catastrophic Visual I
11/6/2013
the ECE quadcopter senior design project @ Purdue University
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Questions??
the ECE quadcopter senior design project @ Purdue University
11/6/2013