syntech cdr

8/12/2019 Syntech Cdr

1/33


2/33

The ASD is an AerialSurveillance Dronethat is designed for useby corporate or

military projects. The ASD provides

advancedreconnaissance andmuch needed intel ontactical locations.

Autonomous dronesare expendable.


3/33


4/33


5/33

Fully constructed quad-copter

with limited capability.

This includes:

Designed and constructed

frame and test area

Hover function

Balance function


6/33

Fully constructed and functional quad-

copter

This includes:

Hover and Balance functionality

Turn left/right

Ascend DescendWireless communication established


7/33

A completed quad-copter with mounted

camera and fully autonomous

functionality.


8/33

Daniel

PCB DesignCore circuit designPeripheral designV1 and V2 board layout

Power SystemsPrimary and auxiliarypower design

RyanSoftwareAlgorithm developmentSoftware development

Hardware

Motor mount designProp mountingMaterial testing

KenSoftwareLead software designSoftware developmentAlgorithm design

HardwareFrame designMaterial research

TravisPCB DesignCore circuit designPeripheral designCircuit construction

SoftwareSoftware development

Test DesignTest area designTest data collection

AndyDocumentationand Budget

CDR compilation.Resource trackingTimesheet upkeep

HardwareFrame construction

Test DesignConstruct test area


9/33

Bought Items Part Qty Cost Total+tax

LiPo Balance Charger EXTR7595 1 42.89 42.89

EDF Outrunner motor HK90132 1 9.99 9.99

Brushless heli motor TP2415-07T 1 11.99 11.99

Turnigy EDF Outrunner T26101C4000 1 13.45 13.45

GWS EP Propeller 127x76mm 6pc. GWS-DD-5030 1 3.4 3.4

Thunder Power 2250 mAh LiPoly LP-TP2250-3SP30 2 57.99 115.98

Tenergy LiPo Battery Tester 1 16.24 16.24

Heli Series ESC (motor driver) 1 15.12 15.12

E-Flite Balance Adapter Cables EFLA229 1 7.99 7.99balancer connectors 3 3.25 9.75

PVC40 PIPE and Tees 1 38.04 38.04

Nets 3 14.99 44.97

Motor Collars 3 2.59 7.77

Tax 1 4.38 4.38

Xbee Explorer USB WRL-98687 1 24.95 24.95

Arduino Uno SMD DEV-10356 1 36.05 36.05

Inclinometer Dual 1G 551-1003-1-ND 1 64.62 64.62

IC MCU AVR32 AT32UC3B0256 2 12.52 25.04

Xbee Antenna Chip XB24-ACI-001-ND 2 19 38

IC 3 axis accelerometer 497-8549-ND 2 5.12 10.24

40 MHz Crystal 18PF 535-10650-1-ND 2 1.65 3.3

shipping and tax 1 9.58 9.58

Carbon Fiber Tube SM4548F 1 44.55 44.55

shipping and tax 1 15 15

Carbon Fiber Sheet WCC-T0151116 1 22.99 22.99


10/33

The total Spent amount for the

quad copter test and build is at

$932.75 of the asked for $1100.

We are finished in buying the

critical components except for

the printed PCB.


11/33


12/33

AT32UC3B0256

AVR32 Architecture

32kB Program

Memory 256kB Flash Memory

USB Bootloader

Up to 66MHz Clock


13/33

General Purpose IO

44 GPIO Pins

Secondary

Functions PWM Output

SPI Bus

USB Interface

Analog to DigitalConverter

USART


14/33

XBee

Indoor Range30m

2.4 GHz Operating

frequency TX Current45mA

Rx Current50mA

UART Interface

3.3V SupplyRequired


15/33

Ping))) UltrasonicDistance Sensor

2cm3m

30mA supply current 5V Supply

Timed ResponsePulse

Only requires one IOpin


16/33


17/33


18/33


19/33

Main functions (Purple) demo(): calls the control

and led functions in aspecified order to demothe capabilities of thequadcopter

patrol(): similar to demobut will follow thebeacons for navigation

remote(): handles remotecontrol input

kill(int killSig): shuts off all

operations immediately ifthe killSig variable is true

launch(): launchsequence

land(): landing sequence

LED functions (Red) blink(int led): sets the

selected led to blink on(int led): turns on

selected led

off(int led): turns offselected led

Motor functions (Blue) mControl(int motor, int

speed): sets the motor tothe speed given by

changing thecorresponding mArray[]index


20/33

Control functions (Grey)

zMove(int alt): move togiven altitude alt

xMove(int dist): move in

the x direction to givendistance dist

yMove(int dist): move inthe y direction to givendistance dist

rotate(int deg): rotate

by given degree value hover(): sets the copter

into hover mode

balance(): constantlyadjusts the copters setcalibration variables setby the calArray[]

xAdj(): changescalArray[0] if needed

yAdj(): changescalArray[1] if needed

zAdj(): changescalArray[2] if needed

iAdj(): changescalArray[3] if needed

jAdj(): changescalArray[4] if needed


21/33

Sensor functions (Yellow) altRead(): reads altitude xRead(): reads x

acceleration yRead(): reads y

acceleration zRead(): reads z

acceleration iRead(): reads tilt in i jRead(): reads tilt in j

Wireless Com functions(Green)

rxLED(): handles rx from LEDMode button, cyclesthrough on, blink, and off

rxKill(): handles requests fromkill switch, sets killSig to 1 (0 isno kill sig)

rxHover(): handles requestsfrom hover, overides allcommands and calls hover()

rxLR(): handles requests fromLeft and Right buttons rxUD(): handles requests

from Up and Down buttons rxFB(): handles requests from

Forward and Backwardbuttons

rxLL(): handles launch andland requests


22/33


23/33

Main body

2 carbon fiber plates

IC board mounted to

top Mounting Hardware

4-40 screw size

4 standoffs (plastic)

4 spacers (plastic) 4 nuts (plastic)

12 arm mount screws


24/33

Battery

Mounted inbetween plates

Arm mounts Delrin (Acetal)

Arms

Carbon fiber tube.45

6 (5 pictured)


25/33

Motor Mounts

Delrin (Acetal)

High strength and

rigidity Light weight

Motors mounted oninside of tube


26/33

Motors

Mounted throughthe lid of a box

Tested the I-Vcharacteristics

I-V graph is forunloaded motor

0

200

400

600

800

1000

1200

1400

80 100 120 140 160 180

PWM signal

I-V Vs. PWMV(mV)

I(mA)


27/33

Motors

We used atachometer to

measure RPM RPM chart for

loaded motor

y = 396.74x - 36133

R = 0.9676

6000

7000

8000

9000

10000

11000

12000

106 108 110 112 114 116 118 120 122

RPM

PWM signal

RPM Vs. PWM


28/33

5 foot cube madefrom PVC pipe

Cube will be

surrounded by a net Quadcopter will be

tethered to theground


29/33

Balance testing

A stand will holdtwo opposing arms

in place The other arms are

free to move.

This allows foractuation in one

plane We can use this to

hone in balancecontrol


30/33

Broken components

We ordereddoubles of most

Over budget Remove camera

Structural failure

Evaluate material

choices

Controller failure

Adjust schedule forrevision

Arduino last resort Controllability

Expect major delays

Test cage for safety


31/33


32/33


33/33

syntech cdr

Documents