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PEOPLE |
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Introduction |
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Small rotary-wing unmanned air vehicles (RUAV) would be useful for many military and civilian applications, especially if they were autonomous and very small. In Penn Sate University, we are developing such a platform with the Quad-rotor model, to Investigate feasibility of hand launched RUAV that are portable, inexpensive, easy to operate, and capable of performing useful tasks. |
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approaches |
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¨ Design and build avionics systems for small electric powered quad-rotor RUAV’s. ¨ Based on embeded PC system and Linux OS with wireless function. ¨ Non-linear modeling of quad-rotor dynamics. Inertia parameters identified from swing test. Dynamics simulated in MATLAB/SIMULINK. ¨ Apply advanced control laws for autonomous control. |
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Figure 1. Matlab/Simulink model |
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PC/104 based system |
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¨ Test on DraganFlyer III’s airframe ¨ Using Linux OS with 256 MB ChipDisk storage ¨ Crista IMU from Cloud Cap Technology ¨ Serial Speed Controller (SSC) generates PWM signals ¨ Electrical Speed Controllers (ESC) control motors ¨ Wireless communication with ground station ¨ Data stored on ground station |
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A new system is being built! |
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Figure 2. PC/104 system |
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Figure 3. new system components |