AEM 5495 Spring 2011 Design, Build, Model, Simulate, Test and Fly Small Uninhabited Aerial Vehicles (UAVs) Gary J. Balas balas@umn.edu Monday-Wednesday 3:35-4:50 PM 211 Akerman Hall
UAV Course Syllabus The course is concerned with the design, building, modeling, simulation, testing and flying of uninhabited aerial vehicles (UAVs). The focus is on the Use of rapid prototyping software tools for vehicle modeling, guidance, navigation, and flight control; Real-time implementation, software-in-the-loop and hardware-in-the-loop simulation; and flight tests. Students will get hands-on experience of the entire UAV design cycle. They will learn to 1.Translate mission level specifications and requirements into vehicle level sizing, performance, reliability, and safety specifications. 2.System level design requirements for UAV systems, system architectures and cost tradeoffs.
UAV Course Syllabus cont d 3. Select actuators, sensors, communication systems, microcontrollers, and real-time computers to meet system level specifications. 4. Develop equations of motion for small UAVs from first principles. 5. Develop linear and nonlinear models of a small UAV from the equations of motion and simulate their response to control inputs and disturbances. 6. Analyze the stability and control characteristics of the aircraft. 7. Use open-loop flight test data to identify and validate the UAV model based on first principles modeling. 8. Design flight control laws using feedback to achieve desire dynamic characteristics of the vehicle. 9. Implement and test feedback control algorithms in linear and nonlinear UAV simulation models. 10.An overview of Kalman filtering, GPS, inertial measurement units (IMUs), aircraft navigation and guidance to generate vehicle state information.
UAV Course Syllabus cont d 11.Integrate guidance and navigation algorithms into the nonlinear UAV simulation. 12. Implement guidance, navigation and feedback control algorithms in realtime and verify that they execute properly in software-in-the-loop and hardware-in-the-loop simulations. 13.Perform closed-loop flight tests with real-time implementation of guidance, navigation and feedback control algorithms. 14. Compare closed-loop experimental flight test data with simulation data. 15. Redesign and flight test of flight control laws. Course Objective Design, simulate, test and fly inner and outer-loop flight control laws for the candidate UAV. Control algorithms will be updated and redesigned based on software-inthe-loop, hardware-in-the-loop and flight tests. Students will work in groups of 5 or 6 to accomplish these objectives.
UAV Course Syllabus cont d Prerequisite for AEM Students: AEM 2301 Mechanics of Flight AEM 4601 Instrumentation Lab AEM 4202 Aerodynamics AEM 4303W Flight Dynamics and Control. Prerequisite for EE, ME, CS Students Engineering courses in their discipline. Dynamic system modeling, controls, programming and/or real-time systems Programming in C, MATLAB and Simulink, Familiar with serial communication, sampling, acquiring data using an A/D convertor and generating output data using D/A conversion.
UAV Course Syllabus cont d Hardware/Software Requirements MATLAB/Simulink will be the main software environment. Students will develop programs in C and integrate them into the MATLAB/Simulink environment. Two UAV simulation stations will available for the groups to implement and test their algorithms. Students will work in groups of 5 or 6 to accomplish these objectives. The students will work with an Ultra Stick radio controlled airplane. Avionics hardware includes Crossbow MicroNAV sensor Phytec MPC-5200 microcontroller PWM actuators for the surfaces Radio-modem
UAV Requirements and Specifications Neptune Raven FPASS Dragon Eye Organic Air Vehicle Global hawk Predator
UAV Requirements and Specifications Predator B Pioneer UCAV Dragon Drone FPASS Dragon Drone Pointer
UAV Requirements and Specifications US Department of Defense (DoD) has 20 UAVs in service or under conceptual development: DoD will have invested over $10 Billion in UAVs by 2007*. DoD UAV systems will grow to 300 by the year 2010*. 32 Nations are developing more than 250 models of UAVs*. Over 60 small and Micro UAV programs are under way through out the world. * DoD Unmanned Aerial Vehicle Roadmap: 2002-2027
UAV Requirements and Specifications Requirement Analysis Needs Assessment Mission Analysis UAV Product Mission Requirement s Automation Vehicle Design Process UAV Automated Design Automation Tools Mission Profile Mission Systems Automated Systems System Analysis Hybrid Systems Unmanned Payload Mission Payload Unmanned System Off-the-Shelf System Tools
Requirements and Design Requirements Analysis Detailed analysis to define mission requirements. System Analysis Requirements of mission profiles and automated systems Unmanned Payload Analysis Mission payload suitable for manned, unmanned and hybrid systems. Automation Design process resulting in specific UAV design and systems.
Requirement Proposal Document (RPD) Specification Operational needs and environment as established by the customer. Critical design requirements that govern preliminary design are: Payload, cruise speed, mission range, power Operational design constraints: physical vehicle dimensions, noise, flight envelope Safety standards: weight, altitude, communication, engine, avionics, infrastructure Endurance at mission range, operation ceiling
Mission Analysis Mission viability and mission profile. Classification of missions: Civilian Missions High altitude science Reconnaissance & Surveillance Fire Detection & Monitoring Communication relay Traffic monitoring Entertainment, movies Sensor deployment Others Agricultural Aide Forestry Vigilance Disaster Relief Weather and environmental monitoring Animal observation Documentation- architecture, geologic
Mission Analysis Defense Missions Imagery & geo-locate Target data Illuminate, range and designate Detect, identify, geo-locate, communicate Detect nuclear, biological and chemical emissions Dispense sensors, agents, weapons Tactical Defense Missions Deploy forces, maneuvers Collect intelligence Command and control Acquire, analyze, communicate information and status Recue and recover Track troops, weapons
Mission System Analysis: Payload Classification Sensors Acoustics, target locators, speed measurement, imagery, magnetics Communications Transmitters, transponders, emitters, amplifiers, voice relays, telemetry Electro-Optical EO/IR, line scanners, integral optical sensors Vehicle selection and design
Vehicle Selection and Design Airships Fixed-Wing Planes Rotorcraft