Test Readiness Review
advertisement
Test Readiness Review Mechanical Lead Comms. Lead Electrical Lead Testing/Safety Lead Gloria Chen Tyler Clayton Karsen Donati-Leach Emily Eggers Systems Lead Manuf. Lead Financial Lead Software Lead Project Manager Tyler Herrera Adam Kemp Kate Kennedy Sarek Lee Kamron Medina Agenda Overview Gloria Chen Schedule & Updates Emily Eggers Testing Tyler C. & Tyler H. Budget & Conclusion Tyler Herrera Project Objective Requirement Description FNC.1 ANACONDA will provide a 900 MHz link between the UAV and Ground Station, and will operate independently from the ground station through GPS data parsing and Wi-Fi communication. FNC.2 The ANACONDA system will be operable in up to 15 m/s winds and survivable up to 30 m/s and will be weatherproof up to IP53 against water and dust. FNC.3 ANACONDA will be portable. Overview Schedule Test Readiness Budget Levels of Success Level 1 • Communicate with Ground Station through Wi-Fi • Autonomous track and communicate with UAV at 900MHz Level 2 • Level 1 Criteria • Track UAV traveling 45 m/s ground Level 4 speed in sphere of influence • Data transfer rate of 10kbit/s. Overall Project Success • Level 2 Criteria • Active signal reacquisition after 20 seconds of communication loss • Withstand winds up to 30 m/s • Dust and precipitation, IP-53 • Level 3 Criteria • Can be assembled in less then 10 minutes by a single person. • Gimbal storage of 1 cubic foot 100% 75% 90% 25% Overview Level 3 Schedule Test Readiness Budget ConOps RECUV Aircraft (acquired) ≤ 45 m/s (ground speed) Aircraft Commands Telemetry, Scientific Data Radio (900MHz; 10 kbits/s) ANACONDA Project Communications System RECUV Ground Station (acquired) + 90° to -30° Elevation Guy Wires Continuous 360° Azimuth Support Structure Functional Block Diagram RECUV Aircraft (acquired) High Level Commands (HLC) (new waypoints, locations) HLC XBee Radio 900 MHz Mission Data (MD) (GPS, Flight Status, Scientific Data) Patch Antenna MD HLC GPS Parsing HLC MD Tracking Data (GPS) MD MD HLC Pointing Algorithm CUPIC (acquired) Radio Comm Wired Comm Wi-Fi Mechanical Interface Mission Data High Level Commands Gimbal Movement Desired Azimuth/ Elevation angles Motor Controller/ Driver (x2) Voltage Motors (x2) XBee WiFi HLC MD RECUV Ground Station (acquired) ANACONDA Communication and Tracking System Mechanical Interface (pinned together) Support Structure (Mast and base) XBee WiFi Radio GPS Position from Sending Mission Data To the Ground Station GPS Receiver GPS Position of ANACONDA Supply Voltage Digital Data Angular Displacement CUPIC the UAV Commanded Azimuth Angle Commanded Elevation Angle Voltage Azimuth Controller Elevation Voltage Elevation Controller Motor Rotary Encoder Angular Displacement Torque Overview XBee RF Radio Schedule Azimuth Motor Rotary Encoder Angular Displacement Torque Torque Azimuth Gimbal Elevation Gimbal Test Readiness Budget Critical Project Elements • CPE.1.1 Develop tracking and reacquisition algorithms. • CPE.1.2 Provide a link between UAV and ground station. • CPE.1.3 Be able to mount the system and provide the mechanical movements required in order to maintain a lock on the UAV. Overview Schedule Test Readiness Budget 12.25” Previous box design 12” New box design 12” 12.25” Overview Schedule Test Readiness Budget Major Set-Backs • Motor sizing error • Azimuth motor was larger than anticipated • CAD created using size of elevation motor • Manufacture delay due to redesign and accommodation 12” • Software Buffers • Changed approach for communication • Originally sent individual bytes, switched to using pre-built buffers 12.25” • Sending Motor commands from microcontroller • Modifying existing code to work with interrupts Overview Schedule Test Readiness Budget Schedule Begin Integrated Testing MSR TRR Manufacturing Deadline Electrical Mechanical Software Testing Complete Motor Redesign Software Delay Schedule Begin Integrated Testing MSR TRR Manufacturing Deadline Previously 1 week behind schedule at MSR, Now 10 days behind schedule Electrical Mechanical Software Testing Complete Motor Redesign Software Delay Will use full margin from Dropped requirement to complete manufacturing on time Still have one more week Before deadline Schedule Begin Integrated Testing MSR TRR Manufacturing Deadline Electrical Mechanical Software Testing Complete Previously on schedule, now 2 weeks behind Will not be ready To begin integrated testing Until end of the week Motor Redesign Software Delay Will use testing contingency to accommodate To complete on time • Quick overall testing overview • Detailed description of most important tests Overview Schedule Test Readiness Budget Hardware Software Software & Hardware Integration • Completed Overview Full System Schedule Test Readiness Budget Structural (incomplete) Hardware Software Software & Hardware Integration Full System Overview Schedule Test Readiness Budget Structural Hardware Software Software & Hardware Integration Full System • Incomplete Overview Schedule Test Readiness Budget Structural • Tracking** • Range** • Speed** Hardware Software Structural Software & Hardware Integration • Gimbal Drag** Full System • System Setup and Startup ** Further Explained in Following Slides • Error Budget (Level 2 Success) • Set-up time (Level 4 Success) Overview Schedule Test Readiness Budget Range Testing (Phase 3) Data Packet 900 MHz XBee Attenuator Patch Antenna RF Communication (Test Distance) 900 MHz XBee Laptop Speed and Position (Phase 3) Simulated Data Packets Patch Antenna Microcontroller Invoke Motor Response Motor Position Laptop ππ΄π βπππ ππ¦ π‘πππ ππππππ X ππππππππππ‘πππππ πππππ π΄ππ‘ππππ Overview Schedule Test Readiness 33 m Budget Drag Test (Phase 3) Azimuth (Top View) Gravity πππ§ = 2.79 π β π πππ π = 1.69ππ Elevation (Side View) Gravity πππ = 2.77 π β π πππ π = 1.87ππ Overview Schedule Test Readiness Mass Budget Mass • Currently under budget, likely won’t dip into margin • CDR Estimate: $3,130.00 • Current total Cost estimate: $3,480.68 Budget Category Cost Mechanical System $905.19 Electrical System $2,336.54 Still to Buy $238.95 Total $3,480.68 Overview Schedule •Still to Buy: •Guy wire materials •Hitch Pins •Stakes (for testing) •Attenuators Test Readiness Budget Mechanical Schedule to TRR Has not Been completed Base plate GPS receiver Patch Antenna Plastic Electronics Box Mast Wiffle-Tree Test Hinge Mast Table Loading Table Waterproofing Test 60 deg Box ANACONDA 3 Attach all guy wires and stake first and second guys at specified distances and angles from base. 2 Assemble poles and Gimbal with hitch pins to create antenna mast. 1 Stake base to ground. 4 Push mast to vertical position. 5 Stake in final guy wire. Photo credit: www.mercotac.com/html/230.html Purpose: Ensure that the system can withstand 3 ft drop DES.2.2.1 ο System can be dropped from 3 ft without need maintenance or repairs Description: Drop the gimbal from 3 feet in the upright orientation, and the sideways orientation with no electronics present. Put extra, unprinted PCB board to simulate the real board and ensure that the board remains intact Location: Senior Design Project Room Resources: Laptop, internet Purpose: Ensure that the system can be broken down into discrete bundles weighing no more than 40lbf DES.3.3 ο System can be carried by a single person (ie. Less then 40 lbf for each section) Description: Break ANACONDA into discrete bundles/parts and weigh them to ensure none of them are over 40 lbf Location: Senior Design project room Resources: Entire ANACONDA system, and a scale Gimbal Functionality Test Purpose: Validate controls model and quantify pointing error DES.1.3.7 ο Sphere on influence (beamwidth) Description: Use CUPIC and motors to command gimbal to rotate (This includes mercotac and leads that are attached to the base to ensure no tangling of wires. Location: Bobby/Trudy’s Lab Equipment Used: Assembled gimbal motors, encoders, controllers, absolute encoder, mercotac, and Encoder two leads predicted steps CUPIC Motor Controller Gimbal Rotation Error Actual steps Missed Receive GPS Position of ANACONDA Receive GPS Position of Stationary UAV Receive Data Packet Received UAV Geometry New Packet Startup Algorithm Create Inertial Frame “ANA” Extract UAV GPS Position Align Antenna With True North Convert from GPS to ANA Frame Command Point to this Location Find Angular Position of UAV Motor Response: Actual Pointing Angles Zero Motor Controllers Readings Recurring Track Loop ππππππ‘πππ‘π’π πππ‘ π ππππππππ Background & Objective πππππππ πΏπππ ≤ 0.1 π ππππππ Overall Design: Software Project Risks V&V Project Planning Conclusions Receive GPS Position of ANACONDA Receive GPS Position of Stationary UAV Create Inertial Frame “ANA” Z / Zenith • Inertial Frame centered around ANACONDA, oriented in same way as GPS (East, North, Zenith) • Place UAV at known distance and direction from antenna • Receive UAV Position from stationary UAV • Derive UAV to ANACONDA relative vector from both GPS positions. • Use vector to derive GPS to ANACONDA relative angles, align “ANA” frame from those angles Z / Zenith Align Antenna With True North (0,0,0) Y / North φ Zero Motor Controllers Readings θ Y / North X / East Background & Objective Overall Design: Software ANACONDA Project Risks V&V X / East Project Planning Conclusions • Packets received from the Xbee radio, sent to radio buffer • Radio automatically sends the packet to the computer, added to the computer’s buffer. • Packet sent downstream for processing to track, and forwarding to ground station • Still in the unmodified UAV Packet Data Packet Wi-Fi Transmitter Packet Received added to radio buffer Packet sent to computer, added to buffer Next packet taken from buffer, sent downstream Data packet Downstream Background & Objective Overall Design: Software Project Risks V&V Project Planning Conclusions Overhead Flyby Most Constraining: - Fastest motor response - Physical area covered by beam is at a minimum 45 m/s UAV Flight Path π π = 0π Background & Objective Overall Design: Software Project Risks V&V 330 m Omnidirectional Project Planning Conclusions 331 m Overhead Flyby Most Constraining: - Fastest motor response - Physical area covered by beam is at a minimum 45 m/s UAV Flight Path π = 0π Background & Objective Overall Design: Software Project Risks V&V 331 m π π 330 m Omnidirectional Project Planning Conclusions Overhead Flyby Most Constraining: - Fastest motor response - Physical area covered by beam is at a minimum 45 m/s UAV Flight Path 331 m π π = 180π Background & Objective Overall Design: Software Project Risks V&V Project Planning 330 m Omnidirectional Conclusions Overhead Flyby Required Provided S.F. 0.2 – 0.4 Hz 10 Hz 25 Minimum Beam width 11°-12° 60° 5 Maximum θ 72°/s 90.8°/s 1.37 Maximum Ο 5.2°/s 44.4°/s 8.6 Minimum Frequency Azimuth Elevation Note, setting S.F. to 2.5 and plugging in 24π and 4 Hz transmitting frequency still resulted in track. Background & Objective Overall Design: Software Project Risks V&V Project Planning Conclusions 5V XBee WiFi Radio 3.3 V SPI Microcontroller GPS Receiver Supply Voltage Digital Data Voltage Signal 3.3 V USB UART CAN 12V Torque XBee RF Radio SPI Elevation Controller A B 12V 5V 12V Azimuth Controller Elevation Motor Rotary Encoder A Torque 12V 5V Azimuth Motor Rotary Encoder B Torque Purpose: Ensure that ANACONDA complies with FCC EIRP limitations for ISM frequency bands DES.1.3.5 ο Complies with local and FCC EIRP laws Description: Look up FCC EIRP and local laws to ensure that none of them are being violated Location: EC Computer Lab Resources: Laptop, internet Laptop 1 Data Packet 900 MHz XBee RF Communication (Test Distance) 900 MHz XBee Laptop 2 Maxon A-Max Motor Rotary Encoder 12 V Power Supply + - Maxon EPOS Controller Position/ Speed Commands (USB) To Voltmeter Battery Rotate These Elements Running MATLAB/RealTerm Microcontroller Data Packet XBee WiFi WiFi Communication Laptop Simulated Data Packet Patch Antenna 900 MHz XBee Microcontroller XBee WiFi Parse GPS, Relay Full Packet WiFi Communication Laptop Laptop Data Packet Xbee Radio Xbee Radio Microcon troller Data Packet RealTerm Microcont roller Data Packet Xbee Wi-Fi Xbee Wi-Fi Laptop Data Packet Ground Station Code Boresight Color Coded With Table 3 dB Beamwidth (60°) Error Source Pointing Error Allocation (SF=2) [°] GPS** ±1.0 Mast Pins** ±1.6 Mast Stake Interface ±1.5 System Setup** ±5.0 Gear Resolution ±1.3 Repeated Packets ±7.7 Vertical Tilt ±6.9¹ Margin 5.0 ¹ Leads to Tilt angle of 21.2º ANACONDA GPS UAV GPS
