UAV Development
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Transcript of UAV Development
1
Building UAV Vehicles
Ben Black, Ph.D – System EngineerMarcus Monroe – System EngineerAndy Cheng – Application Engineer
Javier Gutierrez - Senior PMM
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Agenda
• Hardware Description• Algorithm Development• Software Deployment• Lessons learnt
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Hardware Description – 4 rotor copter
• Motors + Blades• Sensors
6 axes IMU Ultrasound Dig Compass
• Controller Single Board RIO
• Extra hardware Daughter card Bluetooh Speed controllers
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Control Algorithm Design
Model Creation
Linearizer
Gains
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Model Development – Non Linear
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Control Design – Control and Observer Gains
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Model & Control Simulation
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Deployment - I2C Sensor
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Implementation Challenges
• Daughter Card• Voltage requirements.• Model calibration• Sensor to state• Implementation and
Controller tuning
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Challenges- Daughter card
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Challenges - Voltage Requirements
7.7 V 19 V
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Challenges- Model Calibration
0 100 200 300 400 500 600 7000
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Motor Characterization
thrust
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Challenges – Sensor to state
12 States x, xdot
Model Sensors
Measurements x, xdot,xdotdot
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Challenges - Implementation and Tuning
Sensor Noise Bias LQR design Kalman Filter Safety