Preliminary Design Review February, 2012 Kody Mallory Adam Prulhiere Bruce Deakyne Luke Tonneman Trevor McDonald The Research and Engineering Center for Unmanned Vehicles (RECUV) is a university, government,
Download ReportTranscript Preliminary Design Review February, 2012 Kody Mallory Adam Prulhiere Bruce Deakyne Luke Tonneman Trevor McDonald The Research and Engineering Center for Unmanned Vehicles (RECUV) is a university, government,
Preliminary Design Review February, 2012 Kody Mallory Adam Prulhiere Bruce Deakyne Luke Tonneman Trevor McDonald The Research and Engineering Center for Unmanned Vehicles (RECUV) is a university, government, and industry partnership dedicated to the development and application of unmanned vehicle systems. RECUV research encompasses scientific experiments, commercial applications, mitigation of natural and man-made disasters, security, and national defense. Photo Courtesy of Jack Elston Photo Courtesy of Jack Elston The TornadoTrak system will be capable of maintaining contact with an unmanned aerial vehicle (UAV) as it flies its route in dangerous and unstable weather conditions. Operate at 900 MHz Omni-directional and electronic beamsteering modes Autonomous and manual input beamsteering Interface with existing architecture Fit on roof of chase van Primary ◦ Receive desired angle from Mobile Control Station (MCS) and steer relative to van orientation Secondary ◦ Combine GPS data from UAV and MCS to determine desired angle Tertiary ◦ Use signal quality feedback from transceiver to finely adjust angle using control law 8 Element Uniform Circular Array Half Wavelength Radius Radiating Element: Monopole 900 MHz Monopole Antenna ◦ ◦ ◦ ◦ ◦ ◦ ◦ SMA Connection Up to 10 W 50 Ω Cheap Small Light-Weight Durable Transmit Network Transceiver Controller Receive Network Antennas Antenna Phase Shifter T/R Amplifier Divider Control Block Summer Phase Shifter T/R Purpose: To relay amplitude and phase shifted signal from source to 8 separate antennas Parts ◦ ◦ ◦ ◦ T/R Switch Phase Shifters Amplifiers Limiter T/R Divider Antenna Phase Shifter Amplifier Amplifier T/R Purpose: ◦ Relay and phase shift data from antenna array to base station Utilizes the internal amplifier of the MCS Parts: ◦ ◦ ◦ ◦ Isolators (if required) T/R Switch Phase Shifters Summer T/R Summer Antenna Phase Shifter T/R JSPHS-100 Variable Phase Shifter ◦ 0-15V Voltage controlled ◦ 700-1000 MHz ◦ 180 degrees, 50 ohm AD5582 Quad DAC ◦ 12 bit 0-15V output voltage ◦ Read/Write Mode The microcontroller will interface with the MCS and UAV for gathering and processing the location and orientation information ◦ ◦ ◦ ◦ ◦ GPS from UAV Commands from MCS Control the phase shifters to steer beam. GPS and Magnetometer from MCS Communicate with Transceiver uC Accuracy ◦ 32 Bit FP unit Timing requirement- control a 1 degree margin within 0.87 seconds ◦ Omni mode is enabled at ~1km ◦ UAV Speed=20m/s GPIO=~30 Pins SCI communication MCS Phased Array RF Signal Digital Signal Analog Signal Command (USB/SCI) GPS/Magnetometer Data DAC Select [1:0] DAC Mode [3:0] uC DAC φ Value[11:0] DAC Read φ [11:0] Signal Strength Command RS232 AMP (x8) Quad DAC (x4) Voltage Phase Shifter (x8) TX Signal Phase Shifter (x8) Transceiver TX Data (From MCS) RX Signal TMS320F28035 ◦ ◦ ◦ ◦ 32 bit 60MHz with floating point arithmetic unit SCI/SPI/I2C Interfaces 1.8/3.3v supply 45 GPIO pins USB Interface ◦ FT232RL System will be powered by the MCS This is 120 V AC 60 Hz Converters need to rectify AC input voltage to DC output voltage ◦ Need 1.8 V, 3.3 V to power ICs ◦ Also need 15 V for reference for DACs ◦ Will also need to monitor current, as too much might damage some components Will have two stages: Commercial rectifier, and then linear regulators ◦ Linear regulators will provide the needed voltages Outputs will need to be monitored to control current output ◦ Outputs will additionally be fused to prevent damaging current spikes Try to have isolation transformers between different power stages ◦ Done to reduce interference from ground loops Special attention to the layout of the PCBs with RF traces ◦ Due to high frequency, could run into EMI and coupling into the power and ground plane. Converters will have a separate PCB, and power will be routed to each individual system ◦ Promotes modularity Design for highest efficiency possible ◦ MCS does not have unlimited power 15 V reference 120 V AC from MCS Converter system, 15 V reference and 3.3 V, 1.8 V for ICs 3.3 V, 1.8 V supply DACs Microcontroller, DACs, Amplifiers, USB Interface 120 V AC Commercial rectifier providing 15 V DC Linear Regulators Load Capacitors– Mouser Electronics ◦ For bypass, decoupling and various other purposes POWER SUPPLY EXT - CENB1010A1503B01 ◦ Supplies 12W 15V @ 0.8A Linear Technology LTC1844 Linear Regulator ◦ Adjustable output voltages Coilcraft DA2303-AL Isolation Transformers ◦ To minimize ground loops Van Power Antenna Power Systems Magnetometer Microcontroller Serial Data Amplifiers / Phase Shifters Requirements: ◦ Durable ◦ Weatherproof ◦ Lightweight Antenna Mount Antenna Ground Plane Materials: ◦ Plexiglass (Acrylic) ◦ Aluminum ◦ PVC Shielding PCB Processor can’t keep up with UAV ◦ Reduce Tracking resolution and resort to Omni mode further out USB Interface is non communicative ◦ Revert to module made by Sparkfun and connect Feedback is not accurate enough ◦ Resort to assuming correct response DAC accuracy RF network error ◦ Calibrate in chamber and modify software Reflection ◦ Matching network Component noise ◦ Calibration Signal Delay ◦ Transceiver settings Might not be able to incorporate isolation transformers ◦ Redesign PCB to minimize ground loop size Interference could be produced from the lines, traces on the PCBs ◦ Shielding Modular System ◦ Easy repair in the field Shielding between PCB and RF Beam Steering Failure ◦ Switched beam high gain antenna Very little team CAD or fabrication experience ◦ Utilize colleagues in MechE Adequate shielding ◦ RF power meter Durability & Weight ◦ Safety margins Schedule “Troubleshoot week” Reallocate resources as necessary Phase project ◦ Working individual components RF and Antenna Quantity Price Total Cost Variable Phase Shifter 36 $26.95 $970.20 8 Way Power Splitter/Combiner 2 $138.95 $277.90 Fixed Gain Amplifier 8 $84.95 $679.60 T/R Switch 9 $56.95 $512.55 Monopole Antenna 8 $9.95 $79.60 RF Cables 52 $8.45 $439.40 RF Total $2,959.25 Embedded & Analog Quantity Price Total Cost Microprocessor 1 $83.07 $83.07 DAC 4 $19.58 $78.32 Connector 1 $1.29 $1.29 USB-Serial 1 $6.99 $6.99 E&A Total $169.67 Power Quantity Price Total Cost PCBs 15 $30.00 $450.00 Filter Capacitors 20 $1.55 $1.55 Linear Regulators 3 $1.77 $5.31 Isolation Transformer 3 Sampled $0 Power Supply 1 $14.38 $14.38 Power Total $471.24 Hardware Quantity Price Total Cost Plexiglas 1 $110.00 $110.00 Mounting 1 $25.00 $25.00 Hardware 1 $50.00 $50.00 Aluminium Sheet 1 $40.00 $40.00 Poster 1 $50.00 $50.00 Misc. Total $275.00 Total Projected Cost $3,875.16 Organization Amount Undergraduate Research Opportunity $1,000 Engineering Excellence Fund $1,000 Research and Engineering Center for Unmanned Vehicles $5,000 Total $7,000 Task Kody Control Algorithm P S Comm SW P S Adam Power Board Luke Trevor P S Array Design P S Beam Forming Network S P Controller Board P RF Boards P Mount/Structure Sensor Interface S S S S S S S S S P=Primary Bruce P P S=Secondary RECUV, Professor B. Argrow, Jack Elston and Maciej Stachura Joe Carey, Fidelity Comtech Brandon Gilles, First RF Professors E. Kuester, D. Filipovic Tom Brown, Sam Siewert Carissa Pocock, Robert Pomeroy, Jeries Shihadeh