AUV ROBOSUB

Transcription

1 AUV ROBOSUB COLORADO STATE UNIVERSITY ELECTRICAL AND COMPUTER ENGINEERING DEPARTMENT SENIOR DESIGN FALL 2016

2 PRESENTATION OVERVIEW 1. Introduction to the team and project 2. Sub-team constraints and design i. Mechanical ii. Sensors iii. Power and Propulsion 3. Summary with Q&A 2

3 TEAM MEMBERS Project Advisor Dr. Anthony Maciejewski VIP Team Advisor Olivera Notaros Senior Computer Engineer Tyler Loughrey Senior Electrical Engineers Brett Gonzales Chris McLean Phil Meister Senior Mechanical Engineers Nate Marquez Seth Purkey Mitchell Yohanan Graduate Student Advisors Megan Emmons Chris Robbiano Junior Team Members Marta Camacho Oren Pierce Billy Phillips Freshman Team Members Chris Alleman Ben Fox Katie Wood Prospective Senior Members Ty Henningsen (EE) Jordan Lankford (EE) 3

4 TEAM ORGANIZATION Project Advisor GSA GSA Team Lead Mechanical Lead Sensor Lead Propulsion Lead Sub-team Members Sub-team Members Sub-team Members 4

5 PROJECT OVERVIEW Project Purpose Killick is a multi-disciplinary, student-proposed senior design project involving the design, construction, and testing of an autonomous underwater vehicle (AUV) based on the US Navy RoboSub Competition Cornell University Argo (Double Hull) (SOURCE: University of Florida SubjuGator 8 (SOURCE: 5

6 COURSE LAYOUT Scoring Metrics Speed Accuracy Weight Known Features Depth control Path following 6

7 BUDGET AND FUNDRAISING Item Cost Motors $1800 Motor Control / MicroControl $1000 Power Supply $800 Sensors $2500 MISC $1000 Final Vehicle Chassis $1500 Prototype Vehicle Chassis $800 Mechanical Blunders $1000 Sponsorships: Ball Aerospace Hewlett Packard IEEE Funds raised: $16,600 Electrical Blunders $1300 Total $11,700 7

8 PROJECT TIMELINE First Year Goals Establish an operational platform for future teams Restricted 1 st year design Mechanical design and fabrication Inertial and image based sensing Propulsion Future teams to refine sensing, controls, mechanical armature, and efficiency Estimated Project Timeline September-December 2016 Design and simulation, Test Rig Start build of Test Rig December-March 2017 Rules release December 2016 Design refinement, Final Rig Start build of Final Rig March-May 2017 Design revision and additional testing Gain practical engineering experience in propulsion, control systems, vision, sensing mechanical design/test, and team dynamics 8

9 MECHANICAL OVERVIEW Chassis Design Electrical Housing Ballast System 9

10 CHASSIS Main purpose is to provide protection for the electrical housing and motors Modular design for mounting external motors Drag Force = 15.6 lb-f Original Design Considerations: Box vs X-Wing Current Design 10

11 ELECTRICAL HOUSING Maintain a safe and dry environment for the internal electrical components Potential Shapes Half Cylinder, Half Capsule, Full Cylinder Overall volume directly affects buoyancy Material Transparency required Options: Acrylic, Clear PVC, Polycarbonate Full Cylinder Half Cylinder Half Capsule 11

12 ELECTRICAL HOUSING CONT. Cap Design O-Ring for seal on detachable cap Main source of heat dissipation Thermodynamics Fans increase heat transfer rate Max internal temp of 70 C Thermodynamics: Temperature Plot Thermodynamics: Velocity Plot Ease of access 12

13 BALLAST Achieve Neutral Buoyancy Volume of vessel determines dry land weight Current Upward Buoyant force: 95lbs Fail Safe Achieve positive buoyancy upon electrical failure Using a balloon and mini CO2 Cartridge 13

14 MECHANICAL - FUTURE WORK Manufacturing Testing/Validation Re-Design 14

15 Correct PROCESS AND FLOW (ELECTRICAL) Sensor Data (SD) Processing (SPU) Detect Terminology SD Sensor Device SPU- Sensor Processing Unit Decision (MCU)) Translate (MPU) Locomotion (MD+M) Decide Respond MCU Master Control Unit MPU Motor Processing Unit MD Motor Driver M - Motor 15

16 SENSOR AND PROCESSING OVERVIEW Optical Devices (OD) Raw Images Image Processing Unit Pressure Transducers Filtered Images Inertial Measurement Unit (IMU) Raw Sensor Data Sensor Processing Unit (SPU) Processed Sensor Data To MCU 16

17 SENSORS Inertial Measurement Unit (IMU) Provides movement data for 3 orthogonal axes Accelerometer Gyroscope Magnetometer Needs filtering to reduce noise Sensors Processing Unit Low Power consumption GPIO pins for sensors communication Pressure Transducers Differential Pressure Outputs voltage relative to underwater pressure Calibrated at top of water Sparton AHRS-8 IMU Sparton (SOURCE: 17

18 PROGRESS Noise Reduction Signal-to-Noise Ratio (SNR) Filtering Research Issues Communication Protocols Python bit manipulation Low SNR High SNR 18

19 IMAGE PROCESSING Cameras Provide raw images of guiding line on bottom of pool Able to extract these images in real-time Needs to be filtered to find position of vehicle Image Processing Unit Converts raw images to navigational data for the SPU Filters to find only the line of tape and its position relative to the camera Allied Mako G-234 Allied Vision (SOURCE: G/G-234.html) 19

20 IMAGE PROCESSING PROGRESS Have developed multiple schemes to filter for the line before finding one that works Original Test Image First Filtering Attempt 20

21 IMAGE PROCESSING PROGRESS CONTINUED Image with Region of Interest Identified Final Filtered Image 21

22 SENSORS - FUTURE WORK Inertial Measurement Unit (IMU) Implement filtering schemes Calculate real position Sensors Processing Unit (SPU) Combine pressure transducer and IMU data to increase positional accuracy Communication protocols to MCU Image Processing Calculate position of line relative to whole image Fine-tune filtering scheme for real-world testing Master Control Unit (MCU) Convert navigation data to usable data for Motor Controller 22

23 OVERVIEW OF POWER AND PROPULSION Control Motor Driving Motors Weight, Thrust, IVP & Size Power IVP & Weight 23

24 INITIAL DESIGN CONSTRAINTS Motors Small motors Compact Easily mountable Weighs under 1lb per motor Cost of motors $300/motor Must exceed torque requirements for vehicle Can always use less but only if available Power Supply Weigh << 5lbs each Power systems must be calculated to size batteries Must have built in Battery Management Must report to Master Control unit for safety reasons Motor Processing Unit Most likely digital signal processor Cost should be $ Must be able to control 6 motors independently and in real-time Reinforces DSP notion 24

25 MOTORS WEIGHT Less weight = higher score Naked motor ( 0.16 lbs ) Housing ( <.16 lbs) THRUST Fluid Modeling 15.6 lb-f Thrust proportional to speed x effective area Effective area proportional to torque T MAX = K E I MAX 10 lb-f for 3 inch propeller VOLTAGE, CURRENT, POWER 3 phase BLDC sensorless ~430 W ~770 Kv ~30 A ~16 V nominal TMotor UAV Brushless Motor MS Kv (BLDC) Machinable Wax Blocks 2" Thick 25

26 WEIGHT Less weight = higher score LiPo ( < 2 lbs) IP68 housing POWER SUPPLY VOLTAGE, CURRENT, POWER Middle of the road estimate C (1200 Amp Burst) 4 S / 2 P (14.8 Volts nominal) Voltage taps at cell level for BMS 5C charge rate CHARGER Built in BMS (for charging) 20 Amp/h charge rate 300 W supply Provides cell balancing LiPo S 14.8v Dual Core Battery Pack icharger 206B, Junsi P350 Power Supply 26

27 MOTOR CONTROLLER DSP+ MCU DEVELOPMENT BOARD VERTICAL INTEGRATION C2000 Piccolo F28069M MCU 24 PWM channels, 12-bit ADC, I2C, CAN2B, USB, UART, SPI Uses Code Composer Studio and MotorWare No on board voltage regulator Electronic speed control multiplexes each PWM Signal for 3 phase BLDC Field-Oriented Control Best type of feedback mechanism for BLDC Not implemented in Texas Instruments LAUNCHXL-F28069M 40A BlueSeries Brushless Speed Controller 27

28 POWER AND PROPULSION - FUTURE WORK Testing of Prototype In Final Phase Motor load testing IVP under various modes Design &Testing of a variety of propellers and shrouds Thermodynamic Data Collection Vetting of BMS PCB for BMS PCB for IMU PCB for Systems Integration Additional motors and PID control development 28

29 SUMMARY MECHANICAL Chassis Protection Corrosion Resistance Modular Motor Placement Electrical Housing Clear PVC material Heat Dissipation Ease of Access Ballast Neutral Buoyancy Fail Safe IMU SENSORS Movement Data Noise Reduction Pressure Transducers Depth Sensing SPU Processes Sensor Data Image Processing Filters Images Finds Position of Sub POWER AND PROPULSION Motors 14.8 V, 30 amp (max), 1 A noload Cheap and light but not waterproof Power Supply LiPo 4S/2P 150 C 14.8 V Light but not cheap Motor Processing Vertical integration capability 29

30 PROJECT ASPECTS Mechanical Chassis design SolidWorks model Electronics location Buoyancy Propulsion ANSYS model simulation Stress analysis Fluid dynamics Heat transfer Temperature management Material consideration Weight Rigidity Water tightness Corrosion resistance Risk/Failure management Manufacturing/ assembly logistics Material acquisition Propulsion Motor size Motor power MCU Sensor power Temperature management Wire management Component choice RF design Wireless communication for testing Motor control signaling Systems interfacing Risk/Failure management Functional indicators Sensor MCU/CPU programming Language choice Programming environment Mode control Surface control for testing Algorithm implementation Signal implementation Sensor location/ selection Image processing Sensor processing Data logging Vehicle-Surface communication for testing Systems interfacing Image analysis Data logging 30

31 BUDGET BREAKDOWN Motors $ 1800 Primary RMCU $ 400 Motor Microcontrollers $ 600 Battery Power Supply $ 700 Controller Power Supply $ 100 Inertial Measurement Unit $1200 Hydrophone System (HS) $ 800 Electrical Tether $ 200 Signal Amplifiers $ 100 Underwater Cameras $ 400 Connectors $ 500 Gaskets $ 70 Wires $ 200 Mechanical Tether $ 30 Test Rig $