Hardware and Software System

for UAV Control

Emanuel Stingu

Petru Emanuel Stingu

M.S. student, ACS group

pestingu[.at.]arri.uta.edu

This project aims to develop the electronics and the software for controlling a Joker 2 electric helicopter in order to allow autonomous flight without human intervention. To avoid expensive crashes, the model helicopter is kept onto a test stand that allows all the degrees of freedom.

Current research is done on sensor fusion using a Kalman filter, system identification and Neuro-Fuzzy control. In order to implement these techniques, a low-power and low weight electronic system is being designed.

Objectives:

  • Self-controlled hover

  • 3D acrobatic maneuvers

  • Automatic detection and avoidance of 3D obstacles

Future:

  • Obstacle detection by stereo vision

  • Path finding

  • Intelligent decision making (learning)

  • Formation flight and air-ground vehicle coordination

Implementation:

  • Completely custom electronics

  • Various sensors:
    - MEMS accelerometers
    - MEMS gyroscopes
    - magnetoresistive sensors
    - GPS
    - ultrasound range finders
    - feedback from servomotors
    - system self-monitoring

  • High-speed digital radio communication

  • Nonlinear model in Simulink

  • Real-time data acquisition in Matlab

  • (In-flight) system identification

  • Hierarchical control loops
    - fast yaw, pitch, roll inner loops
    - slower xyz translation loops
    - Kalman filter

 

 

 

 

 

 

 

 

 

 

General block diagram of the control system

Click here for the version used for the ground vehicle

Mechanical platform: Joker 2 model helicopter

Main Rotor Diameter: 61"
Tail Rotor Diameter: 11.4"
All Up Weight: approx. 11 lbs
Flight time: 20 min

Joker 2 UAV

Joker2 UAV Helicopter

 

Block diagram of the quad-rotor platform

Quad-rotor platform

 

Helicopter stand

Raptor 30 V2 Helicopter

 

Movies and pictures taken during testing

 Preliminary identification of the combustion motor model using a Neuro-Fuzzy algorithm (LOLIMOT)

Accident when thee helicopter was on the helicopter stand.

 

The tail rotor flew away from the shaft and hit the main rotor, which in turn has hit the tail boom.

Experiment to identify the longitudinal axis parameters for the nonlinear model.

 

At one point, the motor was turned off suddenly and the tail rotor has broken, probably because of the metal fatigue of a screw and because the tail rotor doesn't yet have an autorotation capability (will be upgraded soon).

Experiment to verify the correct functionality of the PI controller for the combustion motor.

A feed-forward term needs to be included for better performance to sudden changes in the collective angle.

 

The Ground Vehicle provides an easy way to transport the equipment in the field.

The new Joker 2 electric helicopters have arrived and have been assembled.

 

We build all the sensors and most of the on-board electronics. Here are some pictures of a few PCBs.

The first test of the quad-rotor. The weight is unbalanced and there is no controller implemented yet. All is done from the remote control now.