S15: Hovercopter - Revision history

243 user2: /* Testing & Technical Challenges */

2015-12-06T05:42:13Z

‎Testing & Technical Challenges

243 user2: /* Project Video */

2015-12-06T05:35:05Z

‎Project Video

243 user2: /* Project Video */

2015-12-06T05:34:20Z

‎Project Video

Preet: /* Grading Criteria */

2015-05-26T04:54:11Z

‎Grading Criteria

146 user1: /* Hardware Interface */

2015-05-25T18:26:37Z

‎Hardware Interface

146 user1: /* SJOne Flight Controller */

2015-05-25T18:23:26Z

‎SJOne Flight Controller

Proj user3: /* PID Controller */

2015-05-25T01:56:14Z

‎PID Controller

146 user1: /* Hardware Design */

2015-05-24T22:05:12Z

‎Hardware Design

146 user1: /* Hardware Design */

2015-05-24T22:04:46Z

‎Hardware Design

146 user1: /* References Used */

2015-05-24T21:33:06Z

‎References Used

← Older revision		Revision as of 05:42, 6 December 2015
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	[[File: S15 146 G1 Ziegler nichols tuning.jpg\|center\|450px]]		[[File: S15 146 G1 Ziegler nichols tuning.jpg\|center\|450px]]

		+	==== Stable PID Output ====
		+	Upon completion of a stable quadcopter the graph produced below dictates a stable response in the PID control system. The random spikes most likely occurred from ground wind turbulences or the fact that we had a torn propeller.
		+	[[File:SP 15 HoverCopter Best PID graph.png\|center\|450px]]
	=== Issues Faced ===		=== Issues Faced ===

@@ Line 300: / Line 300: @@
 Most Stable Outdoor Flying :
 https://www.youtube.com/watch?v=JQmJV1W8POk
 First Outdoor Test-run on a windy day

@@ Line 297: / Line 297: @@
 === Project Video ===
 Initial testing of P values :
 https://www.youtube.com/watch?v=IqSVVo5YJBs&feature=youtu.be

← Older revision		Revision as of 04:54, 26 May 2015
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−	~~=== Grading Criteria ===~~
−	~~<font color="green">~~
−	* How well is Software & Hardware Design described?
−	* How well can this report be used to reproduce this project?
−	* Code Quality
−	* Overall Report Quality:
−	** Software Block Diagrams
−	** Hardware Block Diagrams
−	**: Schematic Quality
−	** Quality of technical challenges and solutions adopted.
−	~~</font>~~
−
	== Hovercopter ==		== Hovercopter ==

@@ Line 225: / Line 225: @@
 #'''UART''' - Serial communication and telemetry.
 #'''PWM''' (Pulse Width Modulation) - Decoding remote control signals into pulse signals the ESC's can use to drive the motors
 [[File: S15 146 G1 pwmsample.jpg|300px|center|thumb|Figure 7. PWM Samples]]

@@ Line 217: / Line 217: @@
 === SJOne Flight Controller ===
-	The SJSUOne board is programmed and configured to be the flight controller of the quadcopter. The RC receiver, the sensor, and the ESC are all hooked up to the board. Each of these devices are actively working together and are controlled by the board. The receiver takes input from the RC and outputs it into the SJSUOne board. The board will process the requested PWM and will use this information to control the ESC. It will also process the requested angle of pitch and roll. The sensor readings will be used to process both the requested angle from the RC, and to process the flight stabilization calculations. This microcontroller controls every aspect required for the quadcopter to fly. Every action must first go through the SJSUOne board. FreeRTOS is extensively used on the board. Many critical actions such as remote control and flight stabilization are set up as tasks. The board will determine the priority given to each task.
+	The SJOne board is programmed and configured to be the flight controller of the quadcopter. The RC receiver, the sensor, and the ESC are all hooked up to the board. Each of these devices are actively working together and are controlled by the board. The receiver takes input from the RC and outputs it into the SJOne board. The board will process the requested PWM and will use this information to control the ESC. It will also process the requested angle of pitch and roll. The sensor readings will be used to process both the requested angle from the RC, and to process the flight stabilization calculations. This microcontroller controls every aspect required for the quadcopter to fly. Every action must first go through the SJOne board. FreeRTOS is extensively used on the board. Many critical actions such as remote control and flight stabilization are set up as tasks. The board will determine the priority given to each task.
-[[File: Sjone board.jpg|300px|center|thumb|Figure 6. SJSUOne Board]]
+[[File: Sjone board.jpg|300px|center|thumb|Figure 6. SJOne Board]]
 === Hardware Interface ===

@@ Line 236: / Line 236: @@
 ==== PID Controller ====
 PID (proportional, integral, and derivative) is a closed-loop control system that tries to get results closer to the desired setpoint by adjusting the inputs of the system. The PID controller calculates an error, which is the difference between the measured variable and desired setpoint. The PID controller tries to minimizes the error throughout the operation. Our system takes the measured sensor data and compares against expected values (from the remote control) to alter the PWM output which will be applied to the ESC's and motors. The PID controller contains 3 separate parameters - proportional, integral, and derivative. P depends on the present, I on the accumulation of past errors, and D is a prediction of future errors based on the current rate of change. A higher P tries harder to stabilize itself - which can result in overshoot if too high. I attempts to reduce error based on past errors. The longer the error persists, then the more I will attempt to correct itself. Too much I can result in oscillations at lower frequencies. D attempts to dampen the system and prevent fast movements. However, too high of a D will also introduce oscillations.
-[[File: S15 146 G1 PID1.png||s400px|center|thumb|Figure 19. PWM Algorithm Map]]
+[[File: S15 146 G1 PID1.png||600px|center|thumb|Figure 19. PWM Algorithm Map]]
 == Implementation ==

@@ Line 178: / Line 178: @@
 | scope="row"|3||P2.2||East
 |-
-| scope="row"|1||P2.3||West
+| scope="row"|4||P2.3||West
 |-
 |}

@@ Line 143: / Line 143: @@
 The ADAFruit sensor board uses the I^2 C bus, so it is connected to SDA2 and SCL2 signals of SJOne board. The remote control receiver is connected to the GPIO pins as follows:
-P0.0    RC-Ch1 – Pitch	  (Ch2. of RC receiver - Grey wire)
+{| class="wikitable"
-P0.29   RC-Ch3 - Yaw      (Ch4. of RC receiver - Orange wire)
+The four motors are connected to the PWM enabled GPIO ports of the SJOne board in following order:
-The four motors are connected to the PWM enabled GPIO ports of the SJOne board in following order:
+{| class="wikitable"
 P2.0     North Motor

← Older revision		Revision as of 21:33, 24 May 2015
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	http://blog.opticontrols.com/archives/383		http://blog.opticontrols.com/archives/383
		+
		+	http://robotics.stackexchange.com/questions/167/what-are-good-strategies-for-tuning-pid-loops