AVIONIC CONTROL SYSTEMS FOR EDUCATION & DEVELOPMENT
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This document summarizes two avionic control systems implemented as educational tools: the Seesaw Control System (SCS) and Quadrotor Control System (QCS). The SCS uses a PID controller and sensors to stabilize a seesaw at a desired tilt angle. The QCS is designed to teach embedded programming for quadrotor drones using an IMU, brushless controllers, and microcontroller over I2C communication. Both systems provide hands-on learning experiences for control systems and applications in avionics.
AVIONIC CONTROL SYSTEMS FOR EDUCATION & DEVELOPMENT
- 1. Presented By: Fahad Ali Amjad 12063122-027 Abdullah Mir 12063122-039
- 2. This paper includes two avionic control systems. Implemented as educational tools in the study path of Information Technology for Aerospace. They are used in ongoing development and research projects.
- 3. These exercise systems are SCS & QCS. SCS means SEESAW CONTROL SYSTEM QCS means QUADROTOR CONTROL SYSTEM
- 4. SCS task is to stabilize the system at desired tilt angle and angular rate. To improve the system response by tuning the controller parameters. Sensors are used to measure the actual output of the system and feed this information back to the controller. The controller uses this information to adjust the signal of the system accordingly.
- 5. 3-Axis accelerometer sensor (MMA7361L) Driver IC for dual DC motors (TB6612FNG H-Bridge) Data acquisition unit (NI USB-6008)
- 7. Software of the SCS is implemented using LabVIEW and can be used in two main controlling tasks. In order to stabilize the system around a desired tilt angle, a (Proportional Integral Derivative) PID Controller is used to control the rotational speed of a single motor. In case of two motors, the PID controller will calculate the required ratio needs to be increased and decreased respectively for stabilizing the system around a desired tilt angle.
- 8. The calibration of sensor is used to improve the quality of data.
- 9. SCS includes how the output of the PID controller adjusts itself to the required input for stabilizing the system around a desired point.
- 10. The main idea of the QCS was to design a tool to learn embedded programming in a real time environment using an application from Avionics. In QCS, the students can do implementation step by step and test their own control algorithm to stabilize the system and later to use it in real flying quadrotors.
- 11. Microcontroller UC3A Atmel. IM (Inertial Measurement Unit) consisting of the ITG3200 gyroscope and the ADXL345 accelerometer. Four brushless controllers using the I²C. Uses I²C to connect all peripherals on one bus. Minimum number of wires and drivers to run the system.
- 13. Components like magnetic compass, infrared, ultrasonic and pressure sensors can be added using the I²C bus. The microcontroller provides enough I/O lines to connect all other kind of peripheries like Bluetooth, Wifi, Camera, GPS etc.
- 14. Software is designed using the Atmel Framework (Technical Library) within AVR32 Studio. We can implement all levels of the softwares to create I²C (Inter-Integrated Circuit),USART (Universal Synchronous Asynchronous Receiver Transmitter) etc over communication protocols.
- 15. The control loop operates on a sample time 10ms, fast enough for a very stable control behavior in this application. The microcontroller could even handle a faster sample time.
- 16. Mechanical design involves different versions of implementation and parameterizing of each controller for all axes separately. In the first version, all parts of the tri-axial controller including its parameters and algorithm can be tested separately and altogether. In the second version, the quadrotor can manipulate its orientation in all 3 rotation axes without changing the position meaning the 3 translational axes.
- 18. The QCS proved to be a successful learning tool and was able to control and fly the quadrotor. Nevertheless for an optimized flight the PID parameters had to be adapted. One big issue of this approach was the use of I²C.
- 19. Autonomous Flying Robots, Spring 2010, Kenzo Nonami Introduction to Feedback Control Theory, CRC Press 1999, Hitay Özbay, ISBN: 084931867X LabVIEW for Everyone, Prentice Hall 2005, James Kring, and Jeffrey Travis, ISBN:0131856723 AT32UC3A Series Preliminary, Datasheet Online Accessed January 2012, http://www.atmel.com/dyn/resources/prod_documents/32058S.pdf Igus GmBH, http://www.igus.de