Blimpage - University of Colorado Boulder
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Blimpage
General-Purpose Controller
Blimpage Team:
Joseph Brannan
Preliminary
Design
Review
Philip Grippi
Daniel McCabe
Nguyen Trinh
David Wolpoff
Blimpage
What is The Blimpage
Modular general-purpose drone
controller
Navigation, collision-detection,
general motor interfaces, data
collection
Zero-impact on system performance
Lightweight, independently powered
Blimpage
What is The Blimpage
Composed of six main modules:
General-purpose microcontroller
network
Motor / servo controller
Position and heading monitoring
Collision-detection / alarm
Data collection
Off-module communication
Functional Block
Diagram
Master (Yoda)
Carries out high level tasks
Master of the I2C bus
Passes data between modules.
Handle user-input objectives
Collision Detection
Collision uC slave cycles through 6
channels on Mux/Demux
Vcc multiplexed to 6 peripheral IR
collision sensor’s (limit power)
outputs of sensors de-multiplexed into
low pass filter
Low pass filter output sampled by uC
ADC10
Collision status register visible to master
controller updated continuously
|
Collision Detection
| -------------------------------- |
|
Collision Sensor (x6)
|
Mux/Demux
output |
|
>--------<
---Vcc |
power
|
<--------<
<-------|
|
----------------------|
|
---
|
|
^
| ^^
| | Channel select
>--------
LP Filter
Collision uC Slave
Motor Control
•
•
•
•
•
Motor uC receives direction instruction
from Master Controller
4 uC outputs are optically isolated from
H-Bridges –control 2 motors’ behavior
PWM signal is optically isolated from
Servo
Two fans operate in forward or reverse
Servo controls position of fans (up or
straight)
Motor Control
Motor uC
------------------------| x2 H-Bridge Motor |
x4 optical |
|
Drivers
isolators
|
|
-----
---|
-----
<-------
-----
-----
|
|
|
PWM
--------
signal
optical
isolator
Micro Servo
-----
Position / Heading
Position detection from using a Digital Compass
(HMR3100)
Position / Heading
Velocity detection from using an analog
accelerometer (ADXL311)
Position / Heading
Heading detection from the sampled
outputs from HMR3100 and ADXL311
-
Pos/Heading uC
Master uC
-
||
||
------------------------------------------------I2C BUS
------------------------------------------------||
Motor uC
Communications
“Standard” RS-232 serial
communication.
Connects to a host utilizing a
MAX3232 interface.
All necessary components are kept
with the host to reduce weight.
Communications
Provides I/O pathway to host
printf()-style debug messages.
Command/program input
Collected data output
Potential In-flight uses
Course change/correction
Data Acquisition
Control sensors for collecting data
Audio or Image data
Store data for later transmission or
retrieval
Do nothing until a “target” waypoint
Dropping eggs on Tom from 30’ IS
data acquisition.
Data Acquisition
Possible data collection sources
JamCam or other RS232 enabled
camera.
ISD1200 voice record chip
Analog sampling to external RAM chip
Mechanically actuated egg dropping
device. ;-)
Division of Labor
Master / Slave system (i2c)
Communication Module
Joe
Position / Heading
Dave, Phil
Motor Control, Collision Detection
Dave, Dan
Nguyen
Data Collection Module
Phil, Dan
Division of Labor
Group Tasks
Documentation
PCB Population
Systems Integration
Review and Testing
Blimpage
Project Timeline
Risks and
Contingencies
oMisreads from tilting
Gyro-mounted POS / HEAD Sensors
o Inaccurate velocities and position
Multiple systems
oCannot function on a Blimp
(lift, motor control, etc.)
Alternative Blimp designs
Modularity allows for control of R/C car,
etc.
Blimpage
ANY
QUESTIONS??