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Altitude control for a flight system

Altitude control for a flight system. Christian Müller 05.11.2012. Agenda. Motivation Basics Sensors Hardware-structure Altitude control Models and simulation Ultrasonic sensor Conclusion. Motivation. Wide range of applications Observation, inspections, measurements

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Altitude control for a flight system

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  1. Altitude control for a flight system Christian Müller 05.11.2012

  2. Agenda • Motivation • Basics • Sensors • Hardware-structure • Altitude control • Models and simulation • Ultrasonic sensor • Conclusion

  3. Motivation • Wide range of applications • Observation, inspections, measurements • Cost and resource savings • Protection of human life

  4. Basics • Micro-copter • Functions: • Take off / land • Hover • Control position and height • Collision avoidance • Payload

  5. Sensorsystems • GPS and compass • LEA-6S (ublox), CMPS03 (Devantech) • Acceleration and gyroscopes • LIS344ALH (STMicroelectronics), Murata ENC-03 • Air pressure • MPX 4115A (Freescale)

  6. Hardware-structure • ATmega644P • Sirf Atlas V • Operating systems

  7. Altitude control Formulas Model (MLDesigner) Simulation Code MC (Atmega)

  8. System model

  9. Controller • Typesofcontrollers: • Proportional • Integral • Derivative Controller System

  10. Simulation

  11. Simulation

  12. Ultrasonic sensor • SRF 05 • Specific problems: • Detection of different materials (fleece)

  13. Ultrasonic sensor • Reflexions

  14. Ultrasonic sensor • Echos from distant objects OUT IN

  15. Conclusion • Simulation • Control unit design • Hardware • Implementation / test • Equal steps for other control systems (position, …)

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