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Development and testing of the digital control system for the

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3. chgangle EXERCISES QUARTZ CARD int 1 hibyte lobyte angle cmnd vane angle 1900 206 newangle 600 hibyte angle 256 lobyte angle hibyte 256 cmnd 207 outportb conreg cmnd 9 i lt 1271 outportb conreg 1 outportb datreg lobyte outportb datreg hibyte for 1 2331 lt 2361 outportb conreg 1 111 outportb conreg cmnd 71 cmnd 208 outportb conreg cmnd angle 1900 206 nthrottle 600 hibyte angle 256 lobyte angle hibyte 256 cmnd 13 outportb conreg cmnd outportb datreg lobyte outportb datreg hibyte cmnd 237 outportb conreg cmnd 112 outportb conreg cmnd 2 SENSOR INFORMATION APPENDIX C 26 WX 4 o3 gt gt IN R S HIRO Rn NE N D CL S SECUN QE v M Roll Rate sensor lower Pitch and Yaw Rate sensor upper 73 e e Figure 29 ee a wi v pe 3903 gt AJM 25 Ow 1J00m 371035 pe 2 tape 919 Pst OD Fara rmx Juv 540 5 90 031932346 1I 410 53 e 7204 gao je ert Y LITT yl AL Tuu toarre Sin 5 192318 07w23P 0w122 1 aan wd i Es Aus amp 51551 NOLIH VAOR 277940 NO OFHDSHD 29 Avi TINTA AOD SWZ4 AFHLO 67524 NOL INO
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8. N UMBILICAL Figure 2 Basic Electrical System Design IV GENERATION OF THE SERVO CONTROL SIGNAL A GENERAL LAYOUT OF THE SERVO CONTROL AND QUARTZ I O CARD The digital controller needs the ability to command movement of the control surfaces on the vehicle The original AROD design used Futaba S 134 servos to move each of the four control surfaces These servos are general purpose hobby remote control items that cost about 40 00 each The servos have three inputs 1 5 volts 2 ground and 3 a Pulse Width Modulated Signal PWMS The 5 volt signal powers a small DC motor and the small amount of Transistor Transistor Logic TTL onboard the device PWMS is characterized by a square wave whose duty cycle varies between 0 6 and 2 4 milliseconds The width of the pulse drives the servo proportionally to the intended position A narrow pulse of 0 6 milliseconds may drive the servo hard right while a 1 0 millisecond pulse will drive the servo proportionally less right and a 2 4 millisecond pulse may drive the servo hard left The servo PWMS 15 refreshed every 10 milliseconds The addition of the Diamond System Quartz I O card to the PC provided the ability to create the PWMS to command the servos Figure 3 shows atypical PWMS The user s manual for the Quartz I O card was 5 VARIABLE PULSE WIDTH RISING EDGE REFRESH RATE 10 ms gy Figure 3 Pulse Width Modulated Signal PWMS 14 written with
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11. This section initialize 1s similar to Appendix iu A A A initialize INITIALIZES QUARTZ CARD int cmnd i angle printf start of process Wn cmnd 255 outportb conreg cmnd reset all board functions cmnd 23 outportb conreg cmnd select master mode register 176 outportb datreg cmnd low byte enables fout cmnd 65 outportb datreg cmnd cmnd 249 outportb conreg cmnd for G 1 1 lt 5 1 cmnd 1 select group Ios outportb conreg cmnd 66 cmnd 2 low byte set modes of counter 1 in cmr outportb datreg cmnd cmnd 27 high byte no gating for counter 1 outportb datreg cmnd 25 1 lt 301 1 load the hold register for refresh rate outportb conreg cmnd cmnd 0 outportb datreg cmnd cmnd 10 outportb datreg cmnd for 1 9 1 lt 13 1 cmnd 1 select load register for pulse width outportb conreg cmnd cmnd 103 load low byte into load register outportb datreg cmnd 7 for 1 2331 lt 2371 1 outportb conreg cmnd emnd 127 load and arm counter 1 outportb conreg cmnd for 1 9 1 lt 131 cmnd 1 select load register for pulse width outportb conreg cmnd cmnd 110 load low byte into load register outportb datreg cmnd 5 outport
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20. FM DATA SHEET SC 10 RW 11 011 0 outportb cntrcon cmnd CTR 2 READ WR LSBYTE 1ST MODE 3 BINARY 100 100 IN LOWER BYTE for counter 2 outportb cntr2 cmnd emnd 0 0 IN UPPER BYTE for counter 2 outportb cntr2 cmnd printf COMPLETED CARD INITIALIZATION n j EDS Sample does the work of checking the interupt once the interupt 15 found the conversion process is changed to software driven to sample the three desired channels each of these 1 assembled into 12 bit word to be used later Once all channels are sampled the interrupt 1s cleared and the trigger is changed to external triggered mode This procedure allows the throttle to be input from a Joystick then converted to a PWMS to change the position of a servo attached to channel 5 of the Quartz card nu OS sample EXERCISES A D CARD int x cmnd lsb 1sbl 1sb2 1sb3 sreg turnangle 1 forces continuous loop while x 1 sreg inportb statreg read status reg to check interrupt bit sreg sreg amp 16 and with 16 to get only Sth bit info if sreg 16 Sth bit 15 interrupt bit if high external pulse has been recvd 09 1 e ready to get data 52 32 0010 00006 y outportb mux cmnd set the to read channels 0 2 cmnd 0 outportb intcont cmnd SOFTWARE TRIGGERED A D ONLY outportb basaddr cmnd IMMEDIATE A D CONVERSION
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26. or all four vanes incrementally was instrumental in making accurate measurements of the desired parameter The A D system was tested and utilized when 1t became necessary to model the Futaba S 134 servos that control the vanes to determine the frequency response for incorporation in the control laws Ref 1 The data gathered for the modeling was accomplished by commanding a unit impulse signal into the S 134 servo Then the programmed A D card allowed sampling of the position of the feedback potentiometer inside the servo Additionally the complete roll rate system 1s being tested The system incorporates the software control laws Ref 1 into the hardware A D servo control and utility systems Early hardware problems continue to be resolved to allow B complete testing As with all functional systems the addition of any individually engineered system to other individually engineered systems 15 not accomplished without further modifications B CONCLUSIONS The desired goal of this investigation was to create a digital interface system for the Archytas UAV This vehicle is a VTOL fixed wing airplane that 15 designed to hover to altitude then transition to horizontal flight The emphasis was to establish a complete system to convert onboard sensor information into computer useable form then allow the information once processed to output a signal to command attitude controlling servos on the vehicle to control pitch yaw and roll Th
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44. Address Dudley Knox Library Naval Postgraduate SCHOO Monterey Ca 93943 TRIM SIZE 7 8 10 Your Spine will be lettered EXACTLY as jt 200 appears on your Binding Slip am 28 Stamp in Black E 27 j Stamp in Gold X 26 e 25 S NEW A 27 Thesis M54625 amp Bound Belore 23 a 22 O Rub Enclosed X 21 z Sample O 20 19 5 ADS 18 2 Leave In 1 17 o 16 Take Out 1 15 u COVERS 14 a 13 gt 0 Remove E 12 2 11 Bind in All X P 10 Bind in j 9 ENE UN O m 8 7 INDEXES 6 Front Stub For 5 4 Back _ No Index B amp B SPECIAL INSTRUCTIONS Titus BINDERY Copy distribution is unlimited Approved for public release NAVAL POSTGRADUATE SCHOOL Monterey California THESIS DEVELOPMENT AND TESTING OF THE DIGITAL CONTROL SYSTEM FOR THE ARCHYTAS UNMANNED AIR VEHICLE by Paul V Merz December 1992 Thesis Advisor Harold A Titus Approved for public release distribution is unlimited nclassifi ECURITY CLASSIFICATION OF THIS PAGE F REPORT DOCUMENTATION PAGE a a REPORT SECURITY CLASSIFICATION lb RESTRICTIVE MARKINGS C 2 SECURITY CLASSIFICATION AUTHORITY 3 DISTRIBUTION AVAILABILITY OF REFORT Approved for public release distribution 5 unlimited 2b DECLASSIFICATION DOWNGRADING SCHEDULE PERFORMING ORGANIZATION REPORT NUMBER S 5 MONITORING ORGANIZATION REPORT NUMBER S 5a NAME OF
45. INTE set to zero disables interrupts Bits 4 6 select the binary number of the desired interrupt Interrupts zero and one cannot be asserted if selected these are 33 selected these are reserved for the Selecting 1 allows DMA storage to PC memory while a zero in bit two disables DMA Bits zero and one are important because they select the source of the A D conversion start The conversion start selections are listed in Table 5 TABLE 5 A D START CONVERSION METHOD SOFTWARE TRIGGERED A D FI a START ON RISING EDGE TRIGGER pin 25 START ON PACER CLOCK PULSE CTR out If SOFTWARE TRIGGERED A D 15 selected the conversion 15 begun by writing any number to the BASE ADDRESS This causes the current address at which the MUX is pointed to be converted to its 12 bit digital form The second selection allows for the conversions to be EXTERNALLY TRIGGERED by a rising edge digital signal placed on pin 25 of the card The rising edge causes the address at which the MUX is pointing to be converted The final start conversion selection utilizes the onboard pacer clock and two onboard counters to control the 34 conversion In this mode counters 1 and 2 can be used to set the frequency of conversion In this mode counter 1 is used serially in conjunction with counter 2 causing the start of conversion The rising edge of counter 2 s output square wave triggers the start of conversion The next five registers all wor
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47. O card that are installed in the computer Additionally shown in both figures is the joy stick that commands roll rate and throttle The terminal block shown in both figures allows connection of the Umbilical to both cables The breadboard has a unity gain amplifier wired that was used to protect the Quartz card outputs which did not have but needed buffered outputs 33 7 9 22 LU Z 24 Figure 26 Umbilical Connection to Housing 54 IES Ka N Loro Ua A bs LM 7 77 Pe the owe MTT Fe eee 7 593549 ween re RRA ae wor zn ryse Gone una op Es TRE SIS OSOS INN Figure 27 Umbilical Connection to Computer 55 SANS SIT age S FF 4 4 7 Figure 28 Umbilical Connection to Computer 56 SYSTEM TESTING CONCLUSIONS AND RECOMMENDATIONS A SYSTEM TESTING Testing of the various systems has occurred at various stages of the project The ability to control movement of the vanes became important and was tested when static thrust and torque measurements were needed during the summer of 1992 The Archytas vehicle test stand allowed the computer to move the vanes and throttle through the umbilical during engine operation The ability to command the throttle and
48. PERFORMING ORGANIZATION 6b OFFICE SYMBOL 7 NAME OF MONITORING ORGANIZATION If applicable Naval Postgraduate School EC Naval Postgraduate School 5 ADDRESS City State and ZIP Code 7b ADDRESS City State and ZIP Code Monterey CA 93943 5000 Monterey CA 93943 5000 ja OF FUNDING SPONSORING 8b OFFICE SYMBOL 9 PROCUREMENT INSTRUMENT IDENTIFICATION NUMBER ORGANIZATION If applicable jc ADDRESS City State and ZIP Code 10 SOURCE OF FUNDING NUMBERS PROGRAM PROJECT TASK WORK UNIT ELEMENT NO NO NO ACCESSION NO 1 TITLE Include Security Classification DEVELOPMENT AND TESTING OF THE DIGITAL CONTROL SYSTEM FOR THE ARCHYTAS UNMANNED AIR VEHICLE U 2 PERSONAL AUTHOR S LT Paul V Merz TYPE OF REPORT 13b TIME COVERED 14 DATE OF REPORT Y ear Month Da y 15 PAGE COUNT Master s Thesis FROM TO December 1992 101 16 SUPPLEMENTARY NOTATION The views expressed in this thesis are those of the author and do not reflect the official policy or position of the Department of Defense or the U S Government COSATI CODES 18 SUBJECT TERMS Continue on reverse if necessary and identify by block number 2 Archytas CIO AD16jr Digital Interface Pulse width modulation Humphrey Sensors Futaba Servo Control 19 ABSTRACT Continue on reverse if necessary and identify by block number The purpose of this study was to develop the digital sampling and control system for an Unmanned V
49. and controllable system much time can be spent adjusting programs and locating bugs that cause unwanted behavior The addition of wiring adds the additional problems of unwanted noise and imperfect sometimes bad connections Overcoming these types of problems provide the best real world lessons and a feeling of accomplishment 59 RECOMMENDATIONS In continuing work toward a fully flyable vehicle specific recommendations include e Addition of the remaining sensors and incorporation of the remaining control laws for stability e Obtaining a shielded umbilical cable to remove the noise problems e The purchase of adequate servos that operate off PWMS and develop adequate torque for the given job Investigating the addition of DMA to the Computerboards A D card to facilitate obtaining all sampled channels quicker This would additionally free up the CPU time Establishing an interrupt system that will be generated from the Computerboards A D card and placed on the PC bus This would eliminate the need for polling and release the CPU to accomplish other functions Development of a three axis test stand that will allow testing of all axes of motion on the vehicle housing to establish validity of the control laws applied to the utility system 60 APPENDIX A PROGRAM GENERATES PWMS Written by Lt Paul Merz Revised 11 29 92 For Masters Thesis applied to the Archytas air vehicle This program is
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52. have various functions The MUX can set up the number of channels to be incremented through or be used to point at a specific channel desired 1 e 0 15 The MUX also 15 the device that points to the current channel and increments to the next channel to be converted The conversion process can be started in one of three ways by software trigger external trigger or internal pacer clock trigger The MUX also can be used to reset to the desired channel to be read This is done by writing to the MUX where the upper 4 bits of the MUX contain the channel desired for conversion The layout of the MUX register 15 shown in Figure 10 The MUX register 15 divided into two halves The lower half bits 0 3 of the register selects the starting channel to be converted The upper half bits 4 7 of the register selects the ending channel The MUX points at the channel currently converted Then when triggered the MUX increments itself and the STATUS register to the next channel to be converted in a continuous loop Every write to this register sets the STATUS register channel and current A D channel MUX to the number in bits 4 7 30 BASE ADDRESS 2 CH H8 CHH 18 CH L4 CH L22 ICH as CH refers to channel refers to high channel L refers to low channel Figure 10 Set up of the Multiplexor register The next address to be initialized 15 the analog input range All sixteen A D channels can only input the selec
53. include the systems needed to power the sensors control system servos and the electronic ignition Additionally the system includes a method for getting signals from the sensors to the computer and commands from the computer to the vehicle All of these systems have to be contained compactly and securely in a housing aboard the vehicle When NPS received the AROD vehicles they contained two forebody units which each contained all the electronics to operate the vehicles Unfortunately no documentation was received or available Observations of the units complicated wiring coupled with no schematics made the aspect of using the existing wiring impossible With this in mind the tasks were to gather the data sheets on the sensors and establish what power systems were available and engineer a new system The other task was to make the utility housing self contained and able to be attached to both the vehicle and the umbilical The direction taken was to get one control system roll rate completely connected This control system would unmask many hidden hardware problems and 44 make the addition of other sensor connections easier The systems connected were the power for ignition power and signal for servos and the power and signal connections for the roll rate sensor One of the first steps in the process was to adapt the housing to the vehicle Since the early tests are to be done with the vehicle attached to the umbilical the housing was d
54. make room for the LSB To assemble the two numbers they are bitwise ORed to make the complete 12 bit word This process takes the inputted analog signal and converts the signal to a digital number between 0 4096 The final register that has many convenient uses 15 STATUS REGISTER BASE ADDRESS 8 The STATUS register is shown in Figure 21 BASE ADDRESS 8 IE EEE EOC MUX INT CH2 CHI Figure 21 Status Register The most significant bit of the STATUS register EOC indicates that the end of conversion has been received 1 means busy converting while 0 means conversion complete The next bit U B tells whether the input amplifier is in unipolar U B 1 or bipolar U B 0 bit tells whether the input channels 42 single ended or differential The INT bit tells whether an external pulse has been received on pin 25 INT 0 means no pulse and INT 1 means a pulse has been received This bit can be conveniently used for polling to set up the control law sampling rate and later applications can be placed on the internal PC bus to free up the CPU The final four bits tell at which channel the MUX 15 currently pointed A program that converts input channels from analog to digital 1 included in the Appendix 43 VI UTILITY SYSTEM A UTILITY SYSTEM OVERVIEW The utility system incorporates many diverse systems on the Archytas vehicle In general the utility systems
55. max Case Material Stainless Steel 10 100 Hz 4 max 100 300 Hz 5 max MOUNTING Damping Ratio 0 3 to 08 3 or 4 Point Mounting Adapters Available Upon Request ELECTRICAL Input Voltage 13 VDC to 18 DF Quiescent Current max 20mA per supply Isolation case to all pins 10 megohms at 50 VDC Temperature Sensor Output a pe Temperature Modeling available on request e e 13 TO 18 voc INPUT _ POWER ANO SIGNAL GROUN LOAD RESISTOR USER SUPPLIED SIGNAL OUTPUT TORQUER i SERVO DETECTOR AMPLIFIER 2 BUILT IN TEST CURRENT 15K f 38 3 7 BUILT IN TEST VOLTAGE REGULATEO 10 OUTPUT 10 VDC REGULATED OUTPUT 27 9mm max 5 FACTORY TEST ONLY TEMP SENSOR TEMP SENSOR OUT PIN NUMBERS For additional information on specific requirements direct all inquiries to the Marketing Department Instrument Systems Division Sundstrand Data Control Inc Redmond Washington USA AC 206 885 3711 or our authorized representative noted oelow Sundstrand Data Control Inc ees D E E yS asg na 2725 78 Printed USA 86 209 2108 886 88 m LIST OF REFERENCES Davis J P Design of a Robust Auto Pilot for the Archytas Prototype using Linear Quadratic Regulator Synthesis Masters s Thesis Naval Postgraduate School M
56. must be connected The servos each require a PWMS to be connected that is originated at the computer This 15 accomplished by connections from the umbilical through a connector Then the signal 1s routed through the housing and joined as the third wire in the Futaba J connectors that connect the power to each servo This means that the servos are each connected to 3 wire Futaba J connector that contains ground 5V and a PWMS This connection is shown on the schematic in Appendix D The connected roll rate sensor signal output is a 2 5 VDC that correlates to 100 degrees second of roll rate This outputed roll rate needs to be conditioned to the 0 5 range that the A D card 15 set up to convert The signal from the roll rate sensor 15 sent from the sensor to a conditioning card that was developed by AROD engineers Once the sensor output 15 conditioned to the necessary voltage range of 0 5V the signal is then routed to the umbilical through connectors as shown on the schematic Appendix The umbilical provides a means of sending the PWMS to the vehicle to control the servos Additionally the umbilical provides routing for the roll rate sensor signal and the tachometer The umbilical is an unshielded cable that is connected to the vehicle through a cannon plug on the housing shown in Figure 26 and to the computer by connections shown in Figures 27 and 28 Figures 27 and 52 28 show the cables run from the A D card and the Quartz I
57. t 4 y AAN Qi E HUN ME VEM UE A et g ne 5 be EYE Ia MUR AC 1 ory 4 E NI 4 d A C 44 PRTI LN d Y reer s E DL 4 2 4 042 T sur yo AL de TJ e H nu m rf me YE TE T de EAE PITE ats E tx A hk H H A My 22 we 9 er E fet ann amp 1 woe 33 3 s de i 610 BER LO NA 2 pass Y 2 Ku NY 4 4 ig N gt 4 x vt of EUA 3 449 a yt 244 ng gt le jh ers 444 cds Ca init gi i ete ged E Aa 4 7 x das n SED ee D 52 4 pees DL ON t iN EE t a S qo gt n wur ptr E 9446 g aay sh Ast LEM 494 OE te nu y Fat 22 447 ep M d 4 ww tto irit b 2 Su 41 4742 47 a mn an tS 144 ob tu n1 EN es ES 1 1045 A ie bie od te a 1 71 4 est we tute H E ne t eth Pon ots rete d edi ve Se NIT
58. the intention of the card being used in conjunction with proprietor software written in Basic or This documentation was not adequate or useful in the generation of the desired PWMS This 1s mainly because the modes set up count on a CALL to a routine that is only provided in object code This CALL to a subroutine is not explained in the card s documentation making it difficult to understand exactly what 15 being done Additionally the C programs are only compatible with Microsoft C not with Borland C Since the CALL routine was not provided it was necessary to register level program the desired mode into the AM9513A the onboard system timing controller chip The data sheet for the AM9513A chip is included in the manual The data sheet allowed the card to be programmed at register level to obtain the desired output All of the programming was done in Borland C to provide a robust environment for later use To allow the PC to interface with the card the first step is to set the BASE ADDRESS dip switches to a non interfering address that the C programs will interface with For this application the BASE ADDRESS 225 hex was set on the onboard dip switches The location of the dip switches on the card is shown in users manual This selects the base address of the port the program will write to or read from The card is read and written to at one of three addresses which are each eight bits or one byte wide Table 1 describes each
59. to a determined altitude while the controller commands the four control vanes that will maintain pitch yaw and roll rates Once at altitude the vehicle will then roll over to horizontal flight which will allow for an increased forward speed and an improved endurance A sketch of the vehicle is shown in Figure 1 NT po AROD Lower Body Aquila Wings Figure 1 Sketch of Archytas THE DIGITAL CONTROL INTERFACE SYSTEM A SYSTEM OVERVIEW The instability of the Archytas vehicle requires a computer controller to control pitch roll and yaw motion A digital controller requires input from onboard sensors and the ability to command a surface to generate the desired response The original AROD computer a Motorola 63000 CPU provided the controller and interface functions This system was not used because 1 was outdated and 1t would have been difficult to find interfacing equipment for 1t With this in mind 1t then became necessary to develop a new interface system The flexibility and low cost of personal computers made it desirable to develop the system centered around an IBM personal computer The initial testing of Archytas will involve the vehicle in a hover This means the vehicle can be ground linked to a personal computer through an umbilical The umbilical will allow the computer to sample and evaluate the sensor data After the sensors data 1s evaluated the computer can then send a command for
60. to pin 25 pulls the pin low which would disable conversion The remaining COUNTERS 0 through COUNTER 2 can be loaded by selecting them through commands to the COUNTER CONTROL register Figure 15 Additionally the mode of the 8254 is set up through the COUNTER CONTROL register The operating mode of the PACER CLOCK must be selected from the 8254 data sheet From the data sheet the desired mode selected for this application is mode three This selects a repeating square wave at a frequency determined by numbers loaded in COUNTER 1 and COUNTER 2 To load any of the 8254 onboard registers it is necessary to refer to the 8254 data sheet To load a counter the COUNTER CONTROL must point a multiplexor internal to the 8254 at the desired counter Loading COUNTER 1 requires a binary 0111XXXX X indicates it does not matter which binary number to be written to the COUNTER CONTROL register BASE ADDRESS 15 Bits SCO 0 and 5 1 1 refer to Figure 15 select the desired register Bits RWI 1 and RWO 1 RW which stands for READ WRITE select a loading scheme for the desired register 38 in this case the least significant byte first then the most significant byte To select COUNTER 2 binary 1011XXXX is loaded into the COUNTER CONTROL register Bits SCO 1 and SC1 0 select COUNTER 2 The read write bits are as previously described The counters are loaded with numbers that make mode three create a 10 ms square wave which is the desired sampling rate for
61. vane angle through the umbilical to one or more of the four control vanes The umbilical link can also be used to control throttle servo from the ground Once this system 15 proven the computer system can then be miniaturized to allow onboard placement Enabling the computer to complete its tasks required the addition of two special function cards to the computer The first card added Diamond Systems Quartz I O generates the Pulse Width Modulated Signal PWMS to control the four control vanes and throttle The Quartz card is a multi purpose card with the AM9513A system timing controller as the main chip aboard the card The chip has a versatile group of modes ranging A X that are shown in the users manual The card has five expandable to ten extremely versatile 16 bit counter groups Each group of counters has a wide variety of features including up down counting by binary or binary coded decimal edge level gating and a toggle output capability The card has an internal series of frequencies derived from a 1 MHZ oscillator that can be exported Additionally the counter timers can be used to generate retriggerable one shots of varying duty length list of card s specifications and a pin diagram for the output port can be found in the users manual The second card installed is the CIO ADl6jr card by Computerboards that provides sampling and analog to digital conversion The card is a 16 channel open ended input or 8 differen
62. written in Borland compiled and run in version 2 0 The program utilizes the Quartz I O card to generate Pulse Width Modulated signals PWMS of varying duty cycles from 6 to 2 4 ms The signal is produced out of all 5 of the cards counters and is designed to vary the position of any servo connected to the counters The program 15 designed to be user driven with the following servo connections 5v pin 49 to red wire of servo gnd pin 50 to black wire of servo PWMS any of pins 5 11 17 23 or 39 To operate the card must be strapped prior to installation for the address that will be declared as datreg Ref Quartz I O User s Manual finclude lt dos h gt preprocessor control lines include i include lt stdio h gt inserts a copy of lt h gt at this point ui int datreg 544 declare datreg this 1s the base address strapped prior to card installation int conreg 545 declare conreg as integer value 545 dd main functn main executes main body of program initialize functn calls initialize sets up registers chgangle functn chgangle executes endless loop to change vane positions e 61 O ie AA is changle is a subroutine that converts a user input into a integer number that can be placed the load register to change the width of the outputed pulse width The software allows the selection of any of the 5 channels on the Q
63. ze r 2 2 Jj 1 let es SENT P n dee VI DEM wx Aud et ASIE 81 Ac MPs C ND ECCE ME Eh APUL Ti e EE A ants o ne i y Tite ne n AT ch z ah Y Der AN Vp 3 es ns i 1 7 f IS Kart Kir a 5 RUE T po E re i ps 9 yo uy A angue eti E Ln amp a ON er 1 ho e E M Dac ee hte n HE A oy pt og Pie sp pei is i acu c URN ore x O B M e un ha v3 P tw ut dn 1 un Ww ut ba ad A E Ug 5 pers ER re ee EBEN DL Y nr is d E a ant n al 4 7 UD ve Je ow e 75 ru 5 n P ES A 4 LA vn 1 ase e ae 1 L voee ut vohis To n Ig te HR b 522 UE MA Tes E NC t x site e ais dl Fr ps t a NOS 5 1 zr m T A 2 E v M y 7 Pel i F ii is E Bei fe eid ter nt A Arch ee Si y e H bel SIME d ur ES t Da oA rye 11 24 i PS a
64. 014 Professor Harold A Titus Code EC Ts 2 Department of Electrical and Computer Engineering Naval Postgraduate School Monterey California 93943 5100 91 6 Professor Richard M Howard Code Department of Aeronautics and Astronautics Naval Postgraduate School Monterey California 93943 5100 7 LT Paul V Merz 20578 Lennane Redford Twp Michigan 48240 8 Mr Tom Christian Mechanical Engineering Department Naval Postgraduate School Monterey California 93943 5100 92 DUDLEY NAVAL POS RA 4 MONTEREY SSM Cot E by Ved MPH od hd o E Be 4 ef leita set sur ge AO ae N De ETE iN 9 j m Y J ES 42 RER MONEN hit 94 dt e ie E ee Ald Viet a TA he o T ju 4 E as A DT i leat Uu duy M 122 TNT PX VENTI 1 QULA ate weeks E DE XU Ex oun gn TE b Ah ht ne WT X i and ha nd y 1 MA TE 1 a 1 i 2 EA ER ROM 2 Ln POR feng 1 ius PA WO MA HANA de age eee utg Er in as den pad T ie he a pth a ED jo Fy ela set
65. 1441 37725 11035 SLIOA 577 307110 1 41 0 WWI SdWoI TTIW 1 388732 If dN 7278 le a J9v13104 1F4ANI 59421 192 412145 av 91712 E TE EO NOVO LA J 2 O ario 95 adi 20 lt 621910939 IA Ln SLAIN 3c AIST 5 370 w Q 658300 2661 0 I YAV 7 negare 1 RA I MISS 12975 012 5314 35 1013 OSN 323 97 UND Lrgino TYN WS Pata 78 2193 M wat 3115 et 19 ut to YE moo YY SNOISN 29 3 NO Shien A39 Jag 031412 3 J 1O 55 7 25 Tiv tiy 3 015012 7 2213 245022 Bare oF Pire E IM 2 N 4 E NA E eset Dare 14 Sae wd heaydung SIN INL e 12373 ae H E NN 33 980 SINIWLSNFOV YIWOLSNI 804 318v1I YAV A110v39 HV SIOCHINO YOLIVI I1WIS ISNFPOV N179 LSNFOV IINN JHI 1N343JH2V YIOYO ISVHIYNA A8 03131009 5 011 21312346 YOSNIS TIM HIIHM 011 2141234 94117041402 JHL OL JNO TIIM 1200054 ONJ 119414084 SNOLLINNI NOI LVN18WO 1019 1035 JHL LYHL HINS JOWW 34V SINIWISNFSOV ONY SINTVA 19340440 SYIINOSNYYL JLVY SIIYIS 101Y 3HI NOTL
66. 31412349 IMHO S n uO SN IMIG NO SIRT CL 2313 Hr i AUC us 20 135 SMOISIA 3 SA 19 214 422 09w1221 WO NSIS 5 z SNIAVYO lt 22 S SAAS 10 5 ESA TA DANN LS Cay NIS DA 31N3ML 99 VINE LOE 8 903 219711X 7 ATIOVIS JUV 10 1 2 Un a 12 74 Y01973 31493 150 0 1 9 ONY 15070 110 NOTON 714 o 3l343309 43090 25752974 18 ON 0313100 5 011V21 312395 805535 IHL 38 E i eg HINA 5 01 1721 31 2345 5 101091 102 Jul OL WYO4NOD VIIA 1570299 CHI 1534 4 340112403 002 1014 1035 NE HONS 3074 SLNIWLSN OY 747 OST 057 SINIYA JN3 04WC2 SUIINOSNINL J1VY SINYIS 1018 BL HLIM NOT LINN 4 11 03491530 SI 5214 2412313 ASN3S SIHL 310 075 0356 9 138 OSNIS 531935 1019 434 LSNA TAR AO 21 25 19110 07 E S 225050 131452522303 3039890 A LINN 0 soo T AXAX WNWIXYW SdHVI1311H COL LAYANI oz Sole gt IO 01 101 0 JOVLIOA 071 SNC 1921 112345 0661 0 I 75 2 1 tomy NINE firri 0 Serr 5 015 3919 NO Lim 412245 ISMBIMLO 5537 OO TOES 7300 2722
67. ACEITES 426444 T ttr s Ae ed 15 6 ba toe by SHER ep gt eu Ps eri Parens 453 le q 6 Ms i 454 MITE Pa MS m s AAA ees seg 1 EJ E gt gt Lt D 4 Uds o t i NN on ad 49 PD rizo LAST tir 21 Lg 2 disp O KaT af m boa 4 4 V 24 gt un qi oe CILE PM apor MM HEE en en 5522 9 4 4 LI at bined N 3 M PM 4 grata st RL a H p D ave gt FL uk el H mu mo 544 4 Ps p Re Lx als ERAT VEN us Ld s Je tes yer ANE vM Urat a pt y M LUI yvi e yp f er at en dd Iis 5 4747 A Y7 y u B 4 nt at ES CLET IEEE x te m 4 al desg tah oh te y Ve De dale be SA eur L o 8 rt at saf ptr ES a Pa a y wee a 1 els ef 194 34 e LR LANE es e Ur tet atn Aare rei Ad f de RE Tut Faf 14 ve 3 gis re 25 L t AC EH s en PO MOT lt seems lt rnm hg Dac a 47 742 44
68. E t ae ag ee C wre LIT EE Ass e ente DL leer 7444 bay U It gan 1 4 t FED waste i PERES Pb HE AA e DAS LI d ma Wer J LT d s 4 1 a f lq sti v LE u PK 1 7 4 aad es rw he Ho t EAD hie y odis po i X 5 LE ye t I er ey ta Fs i o 2 998 ILC ITE q 4 2424 mas 5 UP wr 1724 P Ln vie lt prota 1 etel N 1 7 rep tt 4 4 1 ae 1 H 1 i M un 1 D a t 1 da RU vg me de yt 146 i thane se Seta es E GN 34 E A A 4 t 1 a 41 4 701 4 LI 6 2 t D oom r 9741354 n we de n eet 4 AIC UNES e A Dy 1 4 TIT ithe 6t PR L i ri A e lt a itl amp la 7 4e vun be itu M e Sf Vo 4 A ir tare pwi nien A d No E Pu RE 44 uty br LI 429 A A E VE ci hae A Us 3 y tas Ve 4 v Jj id d CE ALAS HECKE 246
69. GEE 62 22151 v9 Jay SNOISNIWIG NO 5 012245 1501833810 Co ASA AOG NSS 7 2 AA po vw 138 89940150192 f SINIWNSLINI 8 12313 76174946 LADINO JAVY 9981 Il 1 83310 1 21 0812313 Q3Al 3Q0 SI 011 831322 YVININY 9 SINIJHISNACOV wIWOLSND 804 JIBVIIVAY 1110VI3 3 51081 02 501293 37935 15 0 9 J1VY ONY ISAFOV 11NN JHL 76 SINMIIHIV YIDNO ISVHIUNd AS 03131 NOW 5401 1 2131 2345 YOSNIS JHL 39 HIIHM SNOILV 3131 2345 9N1110U1NO2 JHL OL HHO JINO 111M 120009 ANJ 31 1 41834084 SNOILINNG 011 12402 6019 103S JHI HINS JOVW SINGWISNFOY ONY SINIVA 14340950 NOI 14931339 30 5347 01 41 ONY 30 3195 YVININV 30 S3XV OML 143535334 TIIM SIVNDIS INdINO Z SYIINISNYYL JLVN 531835 6018 31 NOI 13INNA 01 03INDISIO SI 52180812313 YOSNIS SIHI 71 SILON SYOLIVJ 31725 0391530 3 19 01 4351 94139 YOSMIS 531935 601 1Snrov 3 31725 41 0 838016502 9 03153793 SV Wd3idtl 31 25 11713 SLIOA GIF 39V1104 104100 718388012 INA NI SdWVITTIW 002 7270 110 614 39V110 INdNI SNO 1V 21 10 234S 13 O Log ABNad ADA 5 7 51 WAS Y HINO J y AN
70. INAS OL OINDISIO SI SIINOYLIIII YOSNIS SIHL 035 9N 39 805 15 SIIYIS 101Y YId ISNFOV 012 3 37925 104100 1921441 31 265 11 3 SLIOA 577 1971104 1NdLNO TTIW 001 WW INISUNI INdNI 0 74 2 0 51704 612 39V110 INANI SNO 1v214 534 S 1vN212 322112 7 4 at v a j 05032 32 14 705021035 mimo Mugs 141215 173310 GL1SLNO NJvivi22 20 1 4 J71125 7 a ee pb N 28 2 Lerrov aan Se 882 1179 3144 6 00 690 7 E 3 c66 0 Ydy 12390 1vN719 2 119915 093431413 959 131 Late BE E ee 0 9 22 5 5 07 0 0 6 0 P xx Yrs JIO MO Fim wit 48301 2002 M 10 6010 2 Als 04 11009 Dad OJ s 23205 35402440 5521 e APINOSNIAL 2200 300 FE seot 2004 97441 81M Trad 1020892 0412272 hesydung ONIANMQ Q31104LNOO SIINGYLIITI WII j 1dHY 9OLY111 250 2191174902 HLIM 03 NIHM 0341 190 34V 5 011 21112345 JINWHOJHId 3409Y 761531 NOI Iv2I 31 1vhO AB YIOYO NO O3X23HD 39 3024343434 493 SHILI YIHLO 51531 NOTLINGOSd OFNIIHD Juv HIIM OJAYYH 5431
71. ING CONCLUSIONS AND RECOMMENDA TIONS oso 22 4 A SYSTEM TESTING eee CONCLUSIONS 4 de Vi COINS eR RR y 38 AMO 60 APPENDIX A PROGRAM GENERATES PWMS 61 APPENDIX B PROGRAM FOR A D CONVERSION 65 BEBENDIX C SENSOR INFORMATION 73 INDI D WIRING SCHEMATIC 89 REFERENCES 90 Ba DIS TRIBUTION 2 22 RSS 91 vii I INTRODUCTION During Operation Desert Storm it did not take long for commanders of ground and Naval forces to realize the utility of intelligence gathering through the use of Remotely Piloted Vehicles RPV The current RPV Pioneer allowed for real time data gathering without risk to human life The use of RPV s allowed Marines and Naval forces alike to become self supporting integrated platforms Even with the success of Pioneer in the Gulf War there still lies room for improvement in the current system It was noted that once the ground offensive began Pioneer had trouble keeping pace with the rapid ground movement A major problem with the system was the large amount of equipment and groomed runway needed for the land based Pioneer Due to these shortfalls Pioneer provided little benefit during a time when it could have been irreplaceable as a real time intelligence gatherer or spotter for Naval and Marine gunfire An Unmanned Air Vehi
72. L 229 rg org to Sea sm ML PES ry hems cacti ae X A 7 1 t t j E LJ MIL A so 3 a MAA 4 LIP 4 vet KERK n My ELSE 47 la em 5 gt e LLLA J pnr y Ja e RU Pe o ors ne Mh i 1 ap PPP 4 ves at being rot Y ir P PER 2 Aes de D bun ona pel Mas 5 2 br 7 Cal x 51 ui zn SATIN Arts f ate Y oe eg En ae n lan om tute rate ae mye PE ti pott Perna d c 413 93 ud i M RP 22 gir utes LUEN oy T npe Th 04 vie ve TULIT 9H A 9478 yogya caret ydg eps Den PER 128763 4d aS 221214 wd MOL Y 7 Ine n if P A Stepha ad ar y 4 rA 138 EMI qm nm u at er ary eds e e o May qe 0 A E pt n skirt st s 45 m as n etw D naht ne mr m Tar 2 IPAE ies 1 iepa EXT ES v y n ZUM 2 E
73. MENT BIT ASSIGNMENT BITS CM15 CM14 CM13 CM12 0001 CM11 CM10 CM9 CM8 1011 CM7 CM6 CM5 CM4 0110 CM3 CM2 CMI CMO 0010 FUNCTION NO EXTERNAL GATING COUNT ON FALLING EDGE OF CLOCK COUNTER FREQUENCY SOURCE IS Fl THE OSCILLATOR SEE FIGURE 8 DIABLE SPECIAL GATE RELOAD FROM LOAD OR HOLD COUNT REPETITIVELY COUNT BINARY COUNT DOWN WHEN TERMINAL COUNT IS REACHED ON LOAD REGISTER TOGGLE COUNT TO THE HOLD REGISTER 24 Most of the above settings are self explanatory The most critical setting 1s that of the count being toggled between the LOAD and the HOLD register This is the heart of the PWMS As discussed previously the HOLD register is loaded with a number that when counted out refreshes the signal to the servo by firing a one shot to high voltage level SV Once high the LOAD register then counts out and resets the one shot to a low value The number in the LOAD register translates to the variable pulse width desired Programming of the LOAD and HOLD Registers There are LOAD and HOLD registers for each of the five counters which need to be loaded successively The selection of any of the five counter LOAD registers can be accomplished by writing a 9 13 binary 00001001 through 00001101 as shown on the DATA POINTER register Figure 5 through the CONTROL PORT As before the register is loaded with a high and low byte through the DATA PORT The initial value loaded 15 a zero deflection angle of the PWMS translate
74. NJS SIHIL 0350 9NI38 YOSNIS 531935 101 M34 15007 22208012973 37725 1084110 07 1721441 317 25 1103 SLIOA 672 IOVLIOA 104100 SdHYITIIW 004 1NTYYBAD 10311 370 SLIOA 5125 39V110 10881 5 01 31 412345 AS IMS LIO 4402 1 42 DAA SI DIAS GASsninsaava NI SNOS AIS 33331714 9 IN lt 220 Ou Ze SA313W III W TALIN OS mann 93 1913 LH2 34 LNINOJWOJ Le Xv A Op d c66 0 Ydy ZI 109733 NIY9 DOAS A LE 7 3 C 31436 023 Eoo gt 3317113 Y Y 26 2332 331113 Sito Gee 2273 SO5M35 31111 41 340 1 4 0 1227 SINJWLSOFOVY YIWOLSNI 804 JTAVIIVAY A110v38 39V SIOHINOD 5012v3 31v2S LSNFOV M1vD ONY 1SNFOFT IINN JHI 51518433897 3080 ISTHIUNd 18 03141008 5 011721 31 2395 YOSNIS 3HI 39 TIIM HJIHM SHOtI1V21 41 2395 9711719311039 FHL OL WHOUNDD TIIM 1200084 ON 3H1 717934084 SNO LING 3 NDILIN EWO 1014 1635 3H1 PICS 3044 Juv 51828157779 INV 52774 143403402 SUIICTSNYAL ITU 5116 v35 CLM IRI NOI 1340 3 OL 724791537 41 52740 373 YNSNIS SIHI 310N oIsr ani 38 YONI 5I1YIS 1019 34 ISCIOV 401293 37925 INA LNO K _ 192
75. ON 2 js 100 73527 m sai INV ELO 87 0 SIIOH DIN gt a R fa ap amp 646 64 Oe q 10014 er su Le 99 ecu Oc m 5 Ga 2 2 jo B1 Go GOG 2661 0 a at AAA 3 sl 1 tve M y tt 9 9 19992 39 v 0 rete NOI IDO 311 A 777 2 ON 00 31725 691112345 3 110 5531 8 gt gt lt mien de SORIA MCI Ma y 79 m t rar bno we 0 2 c SEIN IWNBLSNE 1Y2INYH2 W O1121 3 SANIWLSNFOV YIWOLSND 304 37877 VAY A110v34 34V STOSLNOI YOLIVI ITVIS LSnfOV NIY9 ONY 1SNAFOV 1INN JHL SLNMIIHIV ISVHIINA 03131009 SNOII1V23 4 234S YOSNIS JHL 38 VIIA HIIHM 59011921 312395 9417710414053 JHL OL WYOINO TILM LINOOY4 ONI JHL 6014 1035 JHL LVH1 HINS JOM 39 SLNJIWISNCOY ONY SINIYA LN3NO4HOD 7 5832005 81 ILVY 531835 6019 JHL HLIM NOI12Nn4 OL 03891530 S SIINOWLIITI YOSNIS SIHL 7118340 4 SNOILINNI NO 8803 8012 3 31 25 03u 530 3A19 OL 035 9 138 WOSN1S 531835 601 Lsnroyv 801273 31725 LNILNO 83801502 A8 031530038 SV 1 21441 31 25 1103 5170 677 39V110
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77. analog to digital card installed in the computer Sensor power up and parameter verification of onboard devices Development of various power networks to allow operation of onboard systems prior to engine start with the ability to be self sustaining once the engine is running The system was fully tested during ground runs on a thrust torque test stand Integration of the system with the robust controller designed in a concurrent thesis will provide for the stability necessary for the innovative unmanned vehicle 111 ACKNOWLEDGMENTS There are many people involved in the Archytas project whom I owe a tremendous amount of thanks Without their cooperation and guidance my project would have remained incomplete special thanks to Don Meeks for his help in the daily mechanical problems that would have remained unsolved I would like to thank Tom Christian of the Mechanical Engineering department for the wealth of electrical knowledge he could impart to me at a moment s notice his talents were there when they were needed the most It was indeed a pleasure to work for Dr Hal Titus his unique demeanor made the painful parts of thesis work bearable I am sincerely grateful to Dr Rick Howard for the tremendous patience understanding and support he provided throughout the project I will always feel a deep sense of loyalty to him and his project Finally I would like to thank the three individuals who sacrificed the most To Jason an
78. arms counter 1 y end while y end chgangle Initialize sets up the Quartz card to operate in mode j which allows the card to generate the PWMS out of all 3 counters 1t also sets up various other functions that are not used for the purpose of the archytas initialize int cmnd 1 printf start of process n cmnd 255 255 1111 1111b y outportb conreg cmnd resets all board functions cmnd 23 23 0001 0111b outportb conreg cmnd select master mode register i cmnd 176 176 1011 00006 outportb datreg cmnd Jow byte FOUT source s Fl Sl cmnd 65 65 0100 00016 outportb datreg cmnd high byte binary division disable increment MODE 8 bit bus width uds FOUT on divide by 1 249 249 1111 10016 i outportb conreg cmnd disable prefetch for write operations for 151 lt 5 t cmnd i 1 to 5 0000 00016 to 0000 01016 outportb conreg cmnd select ctr mode reg of group 1 thru 5 cmnd 98 98 0110 0010b am outportb datreg cmnd low byte disable special gate reload from load or hold count repetitively binary count count down 63 TC toggled 2 cmnd 27 27 0001 10116 2 outportb datreg cmnd high byte no gating for counter 1 thru 5 count on falling edge count source Fl i j 2516 cmnd 1 25 to 29 0001 10016 to 0001 11016 outportb conreg cmnd load hold regis
79. b datreg cmnd 67 for 5 233 1 5231115 emnd 1 outportb conreg cmnd 27 load and arm counter 1 outportb conreg cmnd for 121 1 701 lookup 1 250 1 printf COMPLETED INITIALIZATION OF SERVOS n j NEAR E om Setup initializes the CIO AD16jr card to provide 10 out of counter 2 out The square wave frequency is set up by the values loaded in counter 1 and 2 The card is set up to sample chanels 0 3 oe oie REA AA E setup INITIALIZES A D CARD int cmnd declare cmnd as integer emnd 32 32 0010 00006 outportb mux cmnd set the mux to read channels 0 2 cmnd 2 2 0000 0010b outportb intcont cmnd set up pacer clock for clock driven sampling 5 5 0000 0101b outportb inrange cmnd set up for correct input and type of voltage E oy oj vj ole vie vie vie vie ie oie oie oie sets up 10 ms square wave out of counter 2 cie oie oie ole oc oie 118 FM DATA SHEET SC 01 RW 11 011 BCD 0 outportb cntrcon cmnd CTR 1 READ WR LSBYTE IST MODE 3 68 BINARY cmnd 100 100 IN LOWER BYTE set up counter 1 outportb cntrl cmnd cmnd 0 OTIN UPPER BYTE set up counter l outportb entrl cmnd cmnd 182
80. cle UAV based on a Vertical Takeoff and Landing VTOL configuration could N help to solve many of the current UAV shortcomings One candidate for such a platform is a ducted fan airframe with wings attached The advantage of the ducted fan configuration is that it provides safety from propeller blades for close operation to ground troops Positioning the duct and wings vertically would allow the vehicle to take off vertically hover to altitude and then pitch over to achieve horizontal flight This concept has the advantage of needing limited space for takeoff and landing Additionally the ability to transition to horizontal flight will extend the vehicle s range and allow faster dash speeds than for a vehicle that translates like a helicopter The reduced fuel consumption of a fixed wing over a hovering vehicle will allow for longer loitering periods once the air vehicle 15 on station Such a platform 15 being developed at the Naval Postgraduate School NPS named Archytas NPS will determine e The proper propulsion and aerodynamic design to vertically lift the vehicle The necessary stability augmentation system to control the vehicle in vertical flight e The optimum maneuver for transitioning the vehicle from a vertical hover to horizontal flight and The necessary ground control needed to provide commanded input to the vehicle while hovering and in horizontal flight The goal of this work was to develop the digita
81. clude Area Code 22c OFFICE SYMBOL 408 648 2360 DD Form 1473 JUN 86 Previous editions are obsolete SECURITY CLASSIFICATION OF THIS PAGE S N 0102 LF 014 6603 Unclassified i Approved for public release distribution is unlimited DEVELOPMENT AND TESTING OF THE DIGITAL CONTROL SYSTEM FOR THE ARCHYTAS UNMANNED AIR VEHICLE by Merz Lieutenant Unit d States Navy B S University of Mississippi 1986 Submitted in partial fulfillment of the requirements for the degree of MASTER OF SCIENCE IN ELECTRICAL ENGINEERING from the NAVAL POSTGRADUATE SCHOOL December 1992 ABSTRACT The purpose of this study was to develop the digital sampling and control system for an Unmanned Air Vehicle UAV designed to takeoff and land vertically and to transition to forward flight The system 15 designed to operate from a personal computer through an umbilical cable tethered to the platform for hover tests The computer controls the sampling and digital conversion of onboard analog sensor signals and sends control surface commands for pitch roll and yaw motions The thesis effort includes the following four parts e Design of a controllable Pulse Width Modulated Signal PWMS to command the servos which operate various aerodynamic surfaces This control 15 accomplished with software written to a counter timer card installed in the computer Sampling and conversion of the signals to the sensors through the programming of an
82. d Michele you were the best while understanding the least Toni my wife whom I love dearly thank you for your exceptional patience without 3 you I would not have been able to complete this goal DUDLEY KNOX LIBRAR y NAVAL POSTGRADUATE MONTEREY CA 939435071001 TABLE OF CONTENTS 1 ON Dun 4 A NAVY UAV APPLICATIONS AND REQUIREMENTS 4 EAN TAS CONCEPT 5 CAROD Progam 5 LINA A T 6 THE DIGITAL CONTROL INTERFACE SYSTEM 9 OVERVIEW So 9 IV GENERATION OF THE SERVO CONTROL SIGNAL 13 A GENERAL LAYOUT OF THE SERVO CONTROL AND AI NIE CL RR RR 13 B PROGRAMMING MODE ON THE QUARTZ VO CARD 18 l Programming Overview 18 2 Detailed Programming of the Registers 19 a Programming the Master Mode Register MMR b Programming of the Counter Mode Register CMR c Programming of the LOAD and HOLD Registers 3 Programming Notes for Mode F V PROGRAMMING THE COMPUTERBOARD S ANALOG TO DIGITAL GCARD cos COMPUTERBOARDS ANALOG TO DIGITAL CARD OVERVIEW 0000 B PROGRAMMING THE A D CARD VI UTILITY SYSTEM 2 2 2 000999 A UTILITY SYSTEM OVERVIEW l Power Routing and Connection 2 Signal Connection and Routing VII SYSTEM TEST
83. d to the servo that controls the vehicle vanes To change the position of one of the five servos a new number is loaded into the LOAD REGISTER This new number will be translated into a different width signal m is then sent to the servo to change its position at a refresh rate of 10 ms The HOLD registers are also loaded successively The selection of any of the HOLD registers 1s accomplished by loading a 17 21 binary 00010001 25 through 00010101 into the DATA POINTER register through the CONTROL PORT as shown in Figure 3 Once this is accomplished the low and high bytes are loaded as data into the DATA PORT For the purpose of generating the PWMS the HOLD register 15 loaded with a value that makes the refresh rate for all five channels approximately 10 ms 3 Final Programming Notes for Mode The final event that must occur to initialize the Quartz I O card is to load and arm all counters In reference to Figure 6 it can be seen that when a decimal 127 number binary 01111111 is loaded into the CONTROL PORT all counters will begin to operate These programming steps will allow the counter to operate until a disarm command is given In Appendix A a program used to generate the PWMS 15 given The program allows for user interface to determine which counter and how much of a change of angle is desired One equation 15 used in the program to convert a degree angle input to a number to load into the load register to obtain the desired puls
84. e 1 width 26 PROGRAMMING THE COMPUTERBOARD S ANALOG TO DIGITAL CARD A COMPUTERBOARDS ANALOG TO DIGITAL CARD OVERVIEW With the programming of the Quartz card we have the ability to control the vehicle The next step in the development of the digital controller is a method to convert the onboard sensor information to digital form This s accomplished through the use of the Computerboard CIO AD16Jr 16 channel analog to digital card The card is versatile 12 bit converter with variable crystal settings eight differential or sixteen single ended channels and a programmable input voltage range Similar to that for the Quartz card the user s manual for this card is designed to be used with proprietor software For the purpose needed seven of the manual s 84 pages contain useful but incomplete information This is partly due to the fact that the proprietor software is provided in Basic Additionally a subroutine is used in every mode that requires a function CALL that is not provided in other than object code To use the card for the purpose needed it was necessary to obtain the onboard counter timer data sheet Intel 8254 and to experiment with many of the settings Prior to the card being installed in the computer the board must be strapped for a non interfering address For this application the address was strapped for 300 27 hex The additional address options can be found by referring to users manual In addit
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87. ehicle UAV designed to takeoff and land vertically and to transition to forward flight The system 15 designed to operate from a personal computer through an umbilical cable tethered to the platform for hover tests The computer controls the sampling and digital conversion of onboard analog sensor signals and sends control surface commands for pitch roll and yaw motions The thesis effort includes the following four parts e Design of a controllable Pulse Width Modulated signal to command the servos which operates various aerodynamic surfaces This control is accomplished with software written to a counter timer card installed in the computer Sampling and conversion of the signals to the sensors through the programming of an analog to digital card installed in the computer Sensor Power up and parameter verification of onboard devices Development of various power networds to allow operation of onboard systems prior to engine start with the ability to be self sustaining once the engine is running The system was fully tested during ground runs on a thrust torque test stand Integration of the system with the robust controller designed in a concurrent thesis will provide for the stability necessary for the innovative unmanned vehicle 0 DISTRIBUTION AVAILABILITY OF ABSTRACT 21 ABSTRACT SECURITY CLASSIFICATION UNCLASSIFIED UNLIMITED same as RPT pticusers Unclassified 22a NAME OF RESPONSIBLE INDIVIDUAL 22b TELEPHONE In
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89. enable the card to produce the desired PWMS each of the five AM9513A counters is programmed for mode F The programming is all done in Borland C Borland C has a function called outportb address command that outputs the 8 bit decimal number to the output port desired To begin programming the card the card must first be reset Then the Master Mode Register MMR must be programmed to control the overall function of the card Then each of the five counters must be programmed through each counter s Counter Mode Register CMR Each of the five counters has two additional multi purpose registers that can be programmed called LOAD and HOLD registers The LOAD and HOLD registers play key roles in the generation of the desired signal The individual channel counter alternates being loaded from its respective LOAD and HOLD registers The HOLD register contains a number that when loaded in the counter counts down to zero and fires a one shot high 5V creating the 10 ms refresh rate of the signal Once the hold register counts down the counter 15 then toggled to be loaded with the number contained in the individual counters LOAD register The signal is held high until the LOAD register count reaches zero causing the one shot to be reset OV The count in the LOAD REGISTER creates the desired pulse width between 0 6 2 4ms Varying the number 18 loaded in the LOAD register varies the pulse width When the LOAD register counts to zero the count
90. er toggles and 1s loaded from the HOLD REGISTER beginning the count down till the signal will be refreshed again 2 Detailed Programming of the Registers Most register programming commands for the Quartz I O card are two part commands The first command 15 loaded through the CONTROL PORT It is an 8 bit command that generally points to the register to be loaded The second command a 16 bit command 1s loaded in two 8 bit bytes through the DATA PORT 8 bits at a time Figure 5 shows the DATA POINTER register which shows how to access every available register that will need to be loaded Sending the appropriate decimal equivalent to the CONTROL PORT sets up the multiplexor to load the next DATA PORT entry into the appropriate register Programming the Master Mode Register MMR The first step to program any mode the card is to reset the card Reset is accomplished by writing 255 binary 11111111 to the CONTROL PORT base address 1 This reset command is found in Figure 6 The next step 15 to program the MMR This 15 accomplished by writing 23 binary 00010111 obtained from the DATA POINTER Figure 5 register to the CONTROL PORT to select the MMR Figure 7 shows all the possible selections of the MMR Then the 16 bits of data are loaded into the MMR 19 8 bits at a time through the DATA PORT The first 8 bit number 176 binary 10110000 1s loaded followed by the second 8 bit 65 binary 01000001 This bit assignment selects the MMR F
91. esigned to be attached to the bottom of the vehicle between the vanes This additionally provides a degree of stability Figure 22 shows the housing attached to the vehicle Figure 23 shows the housing alone 45 ES KAN SSA So ESTAN MAAK AAG D SEN SES ESOS 5 ISS 5 3 A IN SS P 7 ERNU VVL SS N NS SS N x SS S SS WSS x N PN OS gt gt SS s S NS N gt N N N S ye icle Attached to the Vehi ing Hous Figure 22 46 SAE WAAC QAO BON NW 7 Wl Ki E AGA mp te 7 j GRIEG 27 AS 2 gt Figure 23 Housing Unit Power Routing and Connection 47 1 Power Routing and Connection The next step was to begin routing power to meet each system s requirements From the original AROD configuration the housing unit contained various DC to DC converters These are units whose output is a specified constant once the input reaches a certain minimum value The configuration from the original AROD comes with power supplies that can conveniently power the sensors electronic ignition and servos Available power supplies on the unit are 5V 12V 15V and 28V As shown on the schematic in Appendix D the power supply to the servos is 5V This i
92. h designing and flying a mechanical bird 1s serving as a platform to test the concepts of a winged ducted fan VTOL aircraft The vehicle utilizes the technology and equipment developed in two cancelled military programs to produce a quality experimental test platform The U S Marine Corps program produced the Airborne Remotely Operated Device AROD and the U S Army program developed the AQUILA Latin for eagle Both programs though successful in their original missions were cancelled providing assets for development of new programs 1 AROD Program The major parts of the Archytas have come from the AROD program the vehicle which was designed by Sandia Laboratories in conjunction with the Naval Ocean Systems Center Ref 3 The AROD was originally designed to be a short ranged hovering vehicle The vehicle was designed to be controlled by fiber optic link or remotely with a modified commercial modeler s radio The vehicle which resembles a 3 ft diameter duct was powered with a vertically mounted 28 horsepower engine turning a three bladed propeller Four vanes were positioned on the vehicle in the propwash to provide the ability to correct or change the attitude of the vehicle The use of a single propeller in a duct simplifies the design but creates stability problems caused by the torque of the engine and by gyroscopic coupling of the pitch and yaw moments This problem was overcome by Sandia with the development of a Multiple In
93. igure 7 to operate in the manner described in Table 2 Most of the selections in the MMR are arbitrary and have little effect on the PWMS but do need to be specified for operation of the card 20 00 01 Load Reqeter 10 11 gt Moid Mold increment 1 Least Significant Byte Traraterros Next 0 Most Sigri cart Byte Trereterred 000 gt Bement Cueto rama 001 Couresr Group 1 010 Counter Group 2 011 Courter Group 3 100 Counter Group 4 00 Arv 1 101 Courter Group 01 Alarm 2 increment 10 Master Reg 11 No increment 4 110 Mega 111 Group Figure 5 Data Pointer Register TABLE 2 BIT ASSIGNMENT FOR MASTER MODE REGISTER BIT ASSIGNMENT BITS FUNCTION MM15 MM14 MM13 MM12 101 MMII MMIO MM9 MMS 0000 7 6 5 4 0100 MM3 MM2 MM1 MMO 0001 BCD DIV _DISABLE INCR 8BITBUS FOUT ON FOUT IS DIVIDED BY 16 FOUT SOURCE IS Fl 1 MHZ FIGURE 8 DISABLE COMPARE 1 AND 2 DISABLE TIME OF DAY 21 ree EEE TAE 814 A ree re AA o o as 5 81 ewm of spaces vao o ele 51 Tee 82 81 ond Bao SSC re O es CI a xem ng 9g m 71 II
94. ion to the address setting the card was strapped for 1 MHZ operation and 16 channel single ended input The Direct Memory Address switch selection 1s not relevant since a IBM 386 machine handles memory transfers The card 1s programmed in Borland C using the library functions inportb address and outportb address data which allow access to external port addresses The card allows for register level programming through sixteen 8 bit addresses that provide various functions The analog to digital conversion method used 1s successive approximation with each conversion taking approximately 3 nanoseconds The input signal 15 converted to a 12 bit digital number A summary of the function of each address is shown below in Figure 9 28 ADDRESS BASE BASE 1 BASE 2 BASE 3 BASE 4 5 6 7 BASE 8 9 10 11 12 BASE 13 14 15 WRITE FUNCTION A D Conversion ChamdMUXSa Chane MUX Read Digital 4 Bit Output CTR 1 Data A D Pacer Clock CTR 1 Data A D Pacer CTR 2 Data A D Pacer Clock CTR 2 Data A D Pacer None No read back on 8254 Pacer Clock Control 8254 Figure 9 A D Card Address Overview 29 PROGRAMMING THE A D CARD Programming the card requires the initialization of several of the addresses from Figure 9 for various desired modes The first initialization is that of the Multiplexor MUX The MUX can
95. is investigation accomplished the following e The addition of a Quartz I O card added the PC and programming to create a Pulse Width Modulated Signal to control servos e The addition and programming of the Computerboards Analog to Digital card that sampled at the desired controller rate and converted the inputed signals to a 12 bit digital useable signal self contained housing was developed that attaches to the bottom of the Archytas vehicle and contains power supplies that allow operation of the roll rate sensor servos and the electronic ignition for the engine These power Supplies can operate prior to engine ignition on external power and after ignition on the engine s generator 58 Problems developed in several areas during the development of the above systems The servos were deemed to be have limitations for the purpose of controlling the vanes The servos limited torque and plastic gears make failure a real possibility The umbilical cable was determined to have noise spikes traversing the cable to the point of shorting the output amplifiers on AM9513A Quartz I O card causing replacement of the chip This problem led to the addition of a unity gain amplifier installed in line with the cable to protect the computer card The conditioning card schematics obtained from Sandia Laboratories were determined to be inaccurate and require further investigation for use with the remaining sensors With any physically controlled
96. k in conjunction with each other Figure 13 shows the interrelationship of these five registers and Figures 14 through 18 show the layout of each register 5V 5 CONTROL REGISTER 45 24 0 BASE 10 10K TRIG CTRO CTR O IN 8 COUNTER 0 S CTROOUT OUT GATE m 10 MHz COUNTER 1 OUT anol p an COUNTER2 OUT gt pa FO mar GATE 5V PACER 25 TRIGGER Figure 13 PACER CLOCK Control Register 35 BASE ADDRESS 10 2 0 Figure 14 Control Register BASE ADDRESS 15 Figure 19 COUNTER CONTROL BASE ADDRESS 12 Figure 16 COUNTER 0 36 BASE ADDRESS 13 Figure 17 COUNTER 1 BASE ADDRESS 14 Figure 18 COUNTER 2 The PACER CLOCK control register ADDRESS 10 Figure 14 is the interface between the board functions and the Intel 8254 programmable interval timer PACER CLOCK The remaining four registers are resident onboard the 8254 and are accessible from the addresses shown Programming the PACER CLOCK 37 control register consists of four possibilities The selection for the purpose desired is CTRO 0 and TRIGO 1 This selection allows the COUNTER 2 output to control the start conversion If desired this mode also allows pin 25 of the cards connector to affect the conversion The pin 1s pulled up to 5V and will always be high unless an external connection
97. l sampled data control system for a VTOL UAV The integrated system will interface a ground computer with onboard systems to allow for inputs from the onboard sensors to be sampled through the umbilical and converted to a digital signal by the computer These digitized signals can then be applied to control the vehicle s pitch yaw and roll rates Ref 1 The control equations will generate commands that will be sent to the control vanes on the vehicle to adjust the vehicle s attitude This investigation examined e The development of a computer generated Pulse Width Modulated Signal PWMS to command five servos through an umbilical The signal commands the throttle and the position of four control surfaces on the vehicle e The development of a system to sample the signals from onboard sensors and convert them to 12 bit digitized form A power system to allow all the electronics to operate prior to and after the engines generator is up and running The design of the vehicle hardware components to include the umbilical and associated connections housing and power system and all associated wiring The results support the effort to digitally control a VTOL UAV in a hover Follow on projects will perform the integration of vehicle control for forward flight and miniaturization of the computer for autonomous flight Il BACKGROUND A NAVY UAV APPLICATIONS AND REQUIREMENTS The Navy s Unmanned Air Vehicle UAV program curren
98. lsb inportb basaddr READ LOW BYTE MSB 8 TO LSB CHANNEL 1561 inportb basepll HIGH BYTE MSB TO MSB 7 sb ID gt a ROLL LSBYTE RIGHT 4 BITS 1561 1561 lt lt 4 ROLL MSBYTE LEFT 4 BITS Isbl 1561 lsb OR TO GET 12 BIT INFO cmnd 0 outportb basaddr cmnd IMMEDIATE A D CONVERSION lsb inportb basaddr READ LOW BYTE MSB 8 TO LSB CHANNEL 1552 inportb basepll HIGH BYTE MSB TO MSB 7 lsb lsb gt gt 4 ROLL LSBYTE RIGHT 4 BITS lsb2 15452 lt lt 4 ROLL MSBYTE LEFT 4 BITS 1562 1562 155 OR TO 12 BIT INFO Emma U outportb basaddr cmnd IMMEDIATE A D CONVERSION inportb basaddr READ LOW BYTE MSB 8 TO LSB CHANNEL 1563 inportb basepll READ HIGH BYTE MSB TO MSB 7 lsb lsb gt gt 4 ROLL LSBYTE RIGHT 4 BITS 1503 1503 lt lt 4 ROLL MSBYTE LEFT 4 BITS 1563 1563 155 OR TOGET 12 cmnd 2 outportb intcont cmnd RETURN TO PACER CLOCK DRIVEN SAMPLING cmnd nportb statreg read status register then write back outportb statreg cmnd to it same causes reset of flip flop so that interrupt bit is set to 0 throttle int lsb2 2714 127 50 70 calculate throttle chgangle call function chgangle nthrottle throttle j j j A ore eso oko e Roo ne Chgangle is the same as described in Appendix
99. needed PWMS Counters one through four output the PWMS that control the servos that change the vane positions Channel five outputs the PWMS that controls the servo for throttle movement on the engine Therefore all five CMR need to be programmed the same and are done successively Loading a 1 5 to the DATA POINTER register Figure 5 through the CONTROL PORT selects any of the five CMR The following example illustrates the process for loading counter one the other four are done in the same manner The first step in programming CMR one 15 to load a one binary 00000001 in the CONTROL PORT to select counter one CMR The next step 15 to load the low and high bytes into the CMR via the DATA PORT The low byte loaded 1s 98 binary 01100010 and 27 binary 00011011 15 the high byte loaded The bit assignment list shown in Figure 8 and Table 3 show the CMR bit assignment causing various important actions to occur 23 mom 1199 94 1111 P 0 Carta rg hago 1 Cou en Foire Quiz Caro gas AE 600 e 000 601 High 001 high Termal Care 0 0 gh Laval GATE N o 1 030 TC 011 gt High GATE 00 9 o Lova 101 Lew L vu 190 High Gage GATE 111 AsbvoL on Gage GATE N 1 01 Sage Figure 8 Counter Mode Register Bit Assignment TABLE 3 COUNTER MODE REGISTER BIT ASSIGN
100. of the functions associated with the base addresses and their offsets The general layout of AM9513A registers access 1s shown in Figure 4 The data bus multiplexor selects either the CONTROL PORT BASE ADDRESS 1 or the DATA PORT BASE ADDRESS depending on which address the binary word is being written to The CONTROL PORT determines which register incoming data will be loaded into to select the operating mode of the card The card can be programmed in any mode chosen from those offered in the data sheet between modes A through X The data sheet showed that programming mode F allowed generation of the desired PWMS TABLE 1 QUARTZ CARD INPUT OUTPUT MAP OFFSET FROM BASE ADDRESS WRITE READ 0 9513 1 DATA REGISTER 9513 1 DATA REGISTER 1 9513 1 CONTROL REGISTER 9513 1 STATUS REGISTER 2 INTERRUPT DIGITAL INPUT PORT AND INTERRUPT RESET 3 DIGITAL OUTPUT PORT NO FUNCTION 4 9513 2 DATA REGISTER 9513 2 DATA REGISTER 55 9513 2 CONTROL REGISTER 9513 2 STATUS REGISTER CHANNELS ARE ONLY USABLE IF CARD IS SET UP FOR 10 CHANNEL OPERATION BY ADDING THE SECOND AM9513A TO THE CARD NPS CARD IS NOT SET UP FOR 10 CHANNEL OPERATION 16 19151894 IPON INSTA SI9IS189Y Put ed Spo p E lt lt Numo 1 uno 1951394 Po muno sng Bea Figure 4 AM9513A Register Access 17 PROGRAMMING MODE F ON THE QUARTZ I O CARD 1 Programming Overview To
101. oftware triggered then three channels are converted Once converted the status register is reset to allow further interrupts and the mode is changed back to external triggered to allow the interrupt to begin the process again The following are connections to be made Pin 7 grnd Pin 20 connects to pin 25 Pin 35 36 and 37 are channels to be converted This program was utilized to allow testing of the process of bringing an analog signal in similar to that of the roll rate sensor throttle and commanded roll rate then outputing some new value to the control vanes to change the vane position include lt dos h gt include lt stdio h gt int datreg 544 QUARTZ CARD base address n int conreg 545 QUARTZ CARD base address 1 y int basaddr 768 A D CARD base address n int basepll 769 A D CARD base address 1 5 770 A D CARD base address 2 int statreg 776 A D CARD base address 8 int intcont 777 A D CARD base address 9 int pclock 778 A D CARD base address 10 i 65 int inrange 779 A D CARD base address 11 y int cntrl 7396 A D CARD base address 13 ds inten tA OA A D CARD base address 14 N int cntrcon 783 A D CARD base address 15 ai int lookup 70 angle newangle throttle nthrottle GLOBALS declared as integers main initialize setup sample j ois oe oko oh cie oO
102. onboard generator or have power provided externally until engine ignition The original AROD had a card with a group of diodes arranged in a fashion to allow dual power sourcing This card was adapted to fit inside the housing and wired to allow external connection for power through plugs and wired to the onboard generator This card allowed external power connection to power servos ignition and sensors prior to the engine running After the engine is running and the generator 15 supplying power the external connections can be removed to provide the ability for independent flight 49 Y A E NY ag E Figur 24 Roll Rate Sensor in Housing 29 7 LE 2 2 ARE BG Se PO 2 s 2 4 2 27 Lge 772 y 727 ty DA VA LA 77 gt RE gt P 7 4 7 7 22 1 2 YS gt AU 2 Sw Lut e ud 7 7 TT E 2 2 08 7 2 47 4 7 REIT yA 2 2 hy SS ES NN ST NS 3 A SN NSS NN 2 tty COR SC 27 7 2 o WE 7 2 Yh 4 iS AA A Figure 25 Roll Rate Sensor lower Pitch and Yaw Sensor upper 51 2 Signal Connection and Routing Once power 15 applied to each of the devices the controlling signal
103. onterey CA December 1992 Department of the Navy Operation Requirement Document Vertical Takeoff and Landing Integrated Platform for Extended Reconnaissance VIPER Unmanned Air Vehicle 1992 Munson K World Unmanned Aircraft Jane s Publishing Co 1988 White J E and Phelan J R Stability Augmentation for a Free Flying Ducted Fan paper presented at the AIAA Controls Conference August 1957 Lloyd S D An Autopilot Design for the United States Marine Corps Airborne Remotely Operated Device Master s Thesis Naval Postgraduate School Monterey CA September 1987 Bassett W G A Dynamic Simulation and Feedback Control Scheme for The United States Marine Corps Airborne Remotely Operated Device Master s Thesis Naval Postgraduate School Monterey CA September 1987 90 INITIAL DISTRIBUTION LIST No Copies Defense Technical Information Center 2 Cameron Station Alexandria Virginia 22304 Library Code 52 2 Naval Postgraduate School Monterey California 93943 5002 Chairman Code EC Department of Electrical and Computer Engineering Naval Postgraduate School Monterey California 93943 5100 Mr Rick J Foch Naval Research Lab Code 5712 4555 Overlook Avenue S W Washington D C 20375 Commanding Officer Unmanned Aerial Vehicles Joint Project Office Naval Air Systems Command Attn Walter Dixon PEO CU UD3 Washington D C 20361 1
104. put Multiple Output MIMO robust controller that utilized sensors coupled with a Motorola 68000 Central Processing Unit CPU to apply the devised control laws The output from the CPU was converted into the necessary signal to position the vanes for the desired effects The AROD weighing about 85 pounds and producing about 105 pounds of thrust first flew successfully in 1986 Its endurance was limited to one hour due to the high power level needed for hovering The vertical design and axial flow of the propwash limited the vehicle s forward speed 4 2 Aquila Program The AQUILA the vehicle that provides the wings for the Archytas was an ARMY developed UAV designed by Lockheed Ref 3 as a mid range fixed wing tailless pusher platform The airframe is a composite structure with a 13 foot wing span and length of 7 feet The vehicle was powered by a horizontally mounted 24 horsepower engine The vehicle wing elevons acting as elevators and allerons were the primary surfaces to control the vehicle in flight The AQUILA needed a sophisticated dedicated flight control electronics package to provide control and stability The design of the Archytas has taken the AQUILA wings and attached them to the duct used in the AROD program was also necessary to add a to provide an improved means of longitudinal control The duct and wings will be vertically oriented as a tail sitting airplane The vehicle will be designed to hover
105. s wired directly from a 5V converter through Futaba J connectors to allow disconnection for housing removal to the five S 134 Futaba servos The electronic ignition for the engine requires 28V This is wired from the 28V DC converter through a Futaba G connector The connector contains ground 28V and a return line for the tachometer from the electronic ignition which is routed back through to the umbilical to allow measurement of engine RPM The only sensor wired up is the single axis roll rate sensor whose data sheet 15 in Appendix and picture is shown in Figure 24 and 25 Wiring this control system sensor allowed the connection of the output of the sensor through a conditioning card to the umbilical ending up at the A D card which provides the input from the vehicle in computer usable form The control laws can then be applied to 48 the vehicle input The computer can then generate the correct PWMS for the vehicle from the Quartz I O card and send it back through the umbilical to the servos to correct the vehicle s roll rate The sensor requires 15V to power up This sensor is connected to the appropriate power supply through a Futaba G connector to allow removal of the sensor from the housing The data sheets for the remaining sensors that will require installation are included in Appendix along with pictures of each The next step in the hardware connections was to provide a means for the vehicle to receive power from the
106. ted voltage range The voltage range can be one of the many values shown in Table 4 The layout of the register is shown in Figure 11 The selection of the appropriate bits from Table 4 written to base address 11 selects the desired input voltage range A voltage range of 0 5V is the input range for the current configuration This range is setup by writing a decimal five binary 00000101 to base address 11 BASE ADDRESS 11 RANG UNI B Figure 11 Analog Input Range Register 31 TABLE 4 BIT SELECTION FOR ANALOG INPUT RANGE UNI BI AO ae ee pr IAS 20522522 pp SELECTED RANGE FOR THE APPLICATION 32 The next address initialized is BASE ADDRESS 9 which controls the Direct Memory Access DMA interrupt and trigger control DMA allows the program to store the most recently converted channels in a specific PC memory location Although DMA is not used during this application DMA should be considered for later development to increase operating speeds BASE ADDRESS 9 allows the selection of interrupts two through seven and allows them to be mapped onto the PC bus Additionally by the selection of the appropriate bits the conversion trigger can be selected bits and 1 The DMA interrupt and trigger control register is shown Figure 12 BASE ADDRESS 9 Figure 12 DMA Interupt and Trigger Control Selecting INTE 1 bit 7 enables interrupts to be placed on the PC bus while
107. ters for refresh rate cmnd 0 0000 0000b outportb datreg cmnd load low byte into hold register zw cmnd 231 3 0001 11116 T outportb datreg cmnd load high byte into hold register d combined lo amp hi 7936 gives refresh rate j for 1 9 1 lt 131 cmnd 1 9 to 13 0000 1001b to 0000 11015 a outportb conreg cmnd select load register for pulse width cmnd 110 110 0110 1110b 2 outportb datreg cmnd load low byte into load register cmnd 5 5 0000 01015 outportb datreg cmnd load high byte into load register 2 combined lo amp hi 37430 gives pulse width j for 1 200 1 58933 1110 AGO cmnd 1 237 1110 11016 o outportb conreg cmnd set toggle high for counters 1 thru 5 cmnd 127 127 0111 11116 outportb conreg cmnd load and arm counters 1 thru 5 p printf COMPLETED INITIALIZATION OF SERVOS n j 64 oe APPENDIX B PROGRAM FOR A D CONVERSION Written by Paul Merz Revised 11 29 92 For Masters Thesis on the Archytas air vehicle This program is written to be compiled in Borland 2 0 The program is a combination of the program similar to Appendix A and a program to convert 3 channels from analog to digital utilizing the CIO AD16jr Computerboards card The program utilizes 10ms interrupt to trigger conversion Once the interrupt is received the mode on the CIO AD16jr card is changed to s
108. the control laws Ref 1 Once the registers are loaded with values then the COUNTER CONTROL register must be loaded with a value to enable the 8254 to operate in the desired manner to produce the desired output Mode 3 produces a square wave whose frequency depends on the values loaded in COUNTER 1 and COUNTER 2 To select this mode a binary XX11X110 is loaded into BASE ADDRESS 15 the COUNTER CONTROL With Reference to the 8254 data sheet and RWO select as before which byte is loaded first The bits of COUNTER CONTROL M2 X 1 1 and M0 1 select mode 3 which from the 8254 data sheet produces the desired square wave output Once initialization 15 complete the MUX begins sequencing through the desired channels scanning one channel per rising edge The control laws sampling rate was established to be 10 milliseconds Ref 1 This sampling rate 15 accomplished by setting up the card for EXTERNAL TRIGGER Then loading numbers into COUNTERS 1 and 2 that create a 10 ms square wave out of COUNTER 2 The output of COUNTER 2 15 then be fed into pin 25 of the card to 39 provide the rising edge of the EXTERNAL TRIGGER for the desired sampling rate This method is preferred over Pacer Clock driven because that mode does not produce an interupt that can be polled from the STATUS REGISTER The program in Appendix polls the interrupt bit till set then the mode of conversion is changed to SOFTWARE TRIGGERED MODE to allow conversion of
109. the other channels The programmed software allows the MUX to point at the desired number of channels to be converted This 15 done prior to the interrupt being cleared and trigger control being returned to EXTERNAL TRIGGER The interrupt is cleared by writing any value to the STATUS register After the interrupt is cleared and the trigger 15 changed back to EXTERNAL TRIGGER the MUX increments to the next channel to be scanned and waits for the next rising edge from COUNTER 2 After the channel is converted the value can be read and assembled from base address and BASE ADDRESS 1 The registers are shown in Figure 19 and 40 BASE ADDRESS A D9 A DIO A DII 12 LSB Figure 19 A D LSB Data and Channel Register BASE ADDRESS 1 A DI A D2 A D3 A D4 A D6 A D7 A D8 MSB Figure 20 A D MSB DATA As shown in Figure 19 the lower four bits of the BASE ADDRESS contain the channel that has been converted The upper four bits contain the Least Significant Bit LSB of the converted channel BASE ADDRESS 1 contains the upper eight bits of the converted channel To assemble the complete 12 bit word Borland function inportb address is used to read the two register addresses Then the 41 contents read from the BASE ADDRESS rolled right four bits to remove the channel number and leave the LSB The contents read from BASE ADDRESS 1 Figure 20 are then rolled left four bits to
110. tial input card Aboard the card is an 8254 chip that provides a versatile range of methods for triggering the conversion process 10 The card converts from analog to digital by successive approximation with a conversion time of about 3 nanoseconds useful feature the card provides 15 the ability to vary the input through various ranges from a bipolar 10V to a unipolar 0 1 25V The final systems to be engineered were the utility systems These systems included the umbilical and power systems The power system included voltage supply for the sensors electronic ignition and a signal conditioning card This system was difficult to design because of the diversity of each system A major difficulty in the design of the power system was the need for it to fit compactly on the vehicle Additionally the various systems all needed to interface with each other as well as with the computer A concern for the power system was the need to provide power to the various systems prior to the engine generator being up and running A basic overview of the overall system is shown in Figure 2 Each of the basic systems SERVO CONTROL ANALOG TO DIGITAL and UTILITY SYSTEMS will be described in the following chapters 11 AD 16 JR D pe gt gt or SY gt x N AE DUI ERCHI VANE LA Ti MER CARD UTILITY SYSTEMS p a s su
111. tly lacks an adequate vehicle that will take off in a small area and yet have a long loiter time to conduct operations once on station The Navy has defined a need for a vehicle that will take off vertically and conduct extended reconnaissance The concept designated as VIPER Vertical Takeoff and Landing Integrated Platform for Extended Reconnaissance whose specifications are described in Reference 2 call for a vehicle able to land and takeoff in an area smaller than a LAMPS flight deck The requirements of VIPER also state that 1t should be able to transit 100nm from the ship in a 25 knot headwind in less than one hour and be able to loiter on station for three hours The primary missions of the vehicle would be for Reconnaissance Surveillance and Target Acquisition RSTA and Over The Horizon Classification and Targeting OTH C amp T The ideal vehicle should be highly portable have a small operations contingency and be able to operate ashore as well as at sea At the Naval Postgraduate School UAV Flight Research Lab the Navy has been developing a ducted fan VTOL vehicle This vehicle could be a proof of concept vehicle to meet the requirements of VIPER or accomplish similar missions The vehicle will encompass all the personnel safety qualities of a shrouded propeller with the dash and loiter advantages of a fixed wing vehicle B THE ARCHYTAS CONCEPT The NPS air vehicle Archytas named for the Greek contemporary of Plato credited wit
112. uartz card After selection the user inputs an integer number that will be converted to a change PWMS CK ER SK o ok OK OK SK OK AR AS A uod chgangle int 1 hibyte lobyte angle cmnd vane declare variables as integers angle 1 since angle always gt 0 this causes 2 while angle gt 0 endless loop P printf ENTER THE VANE NUMBER TO CHANGE 1 TO 5 scanf d amp vane inputs the value of vane between amp 5 vane vane 8 adding 8 changes the binary value so that can be used to label an address that 1s translatable to a counter 7 printf ENTER THE DESIRED ANGLE in scanf d amp angle input the desired vane angle in degrees angle 1900 206 angle 600 algorithm to conv fm deg to dig hibyte angle 256 forms high byte lobyte angle hibyte 256 forms low byte 193 193 1100 00016 outportb conreg cmnd disarms counter cmnd vane between 9 amp 13 0000 10015 amp 0000 1101b outportb conreg cmnd select load register of desired counter outportb datreg lobyte lower byte of to load reg ix outportb datreg hibyte upper byte of to load reg gt cmnd 233 233 1110 10015 y outportb conreg cmnd sets toggle high for counter i cmnd 97 97 0110 0001b 62 outportb conreg cmnd loads fm load reg and

Development and testing of the digital control system for the

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