Dynamic modelling and intelligent control of a flying machine - part 2

• Main Author: Yong, Cheng Siang
• Other Authors: Er Meng Joo
• Format: Final Year Project
• Language: English
• Published: 2015
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation
• Online Access: http://hdl.handle.net/10356/64298
• Institution: Nanyang Technological University

A staggering amount of casualties and deaths is attributed to the lack of proper intelligence on the ground especially in urban warfare. The use of an Unmanned Aerial Vehicle (UAV) has been widely researched and aims to replace these manned missions. SAFMC provides a platform to design a UAV which can be implemented in a real defense reconnaissance mission today. The minimum mission profile required by SAFMC includes passing through air vent, maneuver in tight corridor, first person view (fpv) and ability of releasing a 50g payload. The paper aims to illustrate the process of construction of hardware and development of software to achieve the tasks given. Initially, the design is planned modularly by separating the system into sub-systems like electronics, communication, mechanical, power and propulsion. The criteria of selection are based on its cost to performance ratio. Subsequently, much effort was spend in integration to an overall system. A successful implementation of two modes was achieved by programming on an external microcontroller. This enables the pilot to switch between two main modes, the normal mode and intelligent mode. In the intelligent mode, additional features were like includes autonomous payload release algorithm, auto throttle altitude algorithm and graphical user interface aids the pilot by providing information to the pilot. These features also relieved the pilot for controlling lesser inputs. The quad copter was validated in SAFMC 2015 by winning 2nd place in the overall Category D1 competition.