Drone Flight Control

15V –15V L5 60mH R5 2? L6 45mH R6 6? GPS Altitude Sensor GPS Yaw Sensor Current Amplifier Controller & Amplifier Gear & Rotor Helicopter • The blocks in the model are shaded as follows: Motor ECE 360 Project - Page 3 of 3 Deliverables: Part 1: System model file (setup.m) + calculations + description (calc.pdf) 1. Hand written calculations are ok as long as they are VERY neat • Show how each block in your system model was computed. • Obvious calculations can be included in the comments of “setup.m” (eg. converting g to Kg) • A description of your system (transfer function, order, poles & zeros, dominant poles, root locus, time const., etc.) 2. Email the following to the Project TA (NOT the instructor) by the project due date: • A copy of your “setup.m” file. • A PDF of your calculations and system description report. Part 2: System Control 1. Describe the steps you took to design your PID controllers: • Strategy • Starting Point • Tuning Process - show a few intermediate results • Conclusion - what you learned during the tuning process 2. Email the following to the Project TA (NOT the instructor) by the project due date: • A PDF copy of your PID tuning report • Include a scan of all hand-written work • Include a title page containing • The names & student number of all team members • Your final PID gains + the resulting SCORE 3. Your system must meet the following criteria for the “Best Score” competition: • Simulation / Configuration Parameters / Solver = ode45 (Dormand-Prince). • PID blocks: Derivative divisor (N) = 100. Refer to the project web page for a description of this parameter. • PID values may not contain more than 3 significant figures (trailing zeros are ok) • No blocks may be added or deleted (scope blocks may be added but not deleted). • The winning system will by checked by running the submitted “setup.m” file with the original system. Grading: • This project is worth 25% of your final grade. • BOTH the printed report and email must be received by the due date or the report will be considered late. • All LATE reports will be marked PASS/FAIL (PASS = 50%, FAIL = 0%). • If you do not get a passing grade on this project, ALL OF YOUR QUIZ MARKS WILL COUNT. • You may work in teams of 1 or 2. Submit 1 report per team. Both team members receive the same grade. • The team that completes the task with the lowest “SCORE” will receive FULL MARKS (15%) for Part 2. 10% Part 1: • 50% system model values (including physical units) • 25% system model calculations • 25% system description 15% Part 2: • 10% Strategy • 10% Starting Point • 75% Tuning Process • 5% Conclusion