International Research Journal of Engineering and Technology (IRJET) Volume: 04 Issue: 02 | Feb -2017 www.irjet.net
e-ISSN: 2395 -0056 p-ISSN: 2395-0072
Tri-Rotor UAV Stabilisation and Control 1A.Sundar
Raj, 2V. Muthumani, 3V. Anusuya 1Associate Professor, 1E.G.S. Pillay Engineering College, Nagapattinam, India 2,3 E.G.S. Pillay Engineering College, Nagapattinam, India
---------------------------------------------------------------***---------------------------------------------------------------Abstract- In the present times unmanned vehicles are tilting the main rotor blades is necessary. In this way hover is an ongoing and complex process. Similar is the case with a Tri-rotor UAV.
commonly used for remote Ariel surveillance especially in the field of military application. One of the major advantages of a Tri-rotor UAV is its Vertical Take-off and Landing (VTOL) capability. The aim of our project is to develop a Tri-rotor UAV and its control mechanism that can be used for remote Ariel surveillance. The project thus involves designing and implementation of an effective communication mechanism between a ground station and the UAV and an effective flight control algorithm to control the flight of the UAV. The control signals are transmitted from the ground station to the UAV by using ASK modulation. A wireless camera attached to the UAV transmits the live video of the terrain and this video can be viewed directly on an LCD display or monitored using a PC. This video enables a controller to continuously monitor the path of flight of the UAV.
This paper primarily describes the UAV stabilisation and control mechanisms. Section II gives a brief overview of the UAV system. Fig. 1 shows the architecture of the surveillance system within our UAV system. The UAV is the mobile unit in which a wireless camera is attached. The wireless camera takes live video and transmits the video from the UAV to a receiver located on the ground. These video can be used for live monitoring of a militant active region in military application and other spy works. The position of view of the camera can be adjusted using the signals from the camera position control circuit which is monitored by a controller. The proposed processor for our application is PIC 18F4550. The processor processes the control signals from a ground transmitter and controls the position of the camera and the direction of flight of the UAV. Ground station is a portable unit. A user could use this unit to monitor the live images from the UAV through an attached LCD display or using a TV. The user can use the controls on this module to generate the control signals necessary for monitoring and directing the path of flight of the UAV and also adjust the position of the camera. Sections III describes about the hardware components used in our system and section IV gives an explanation about the communication between the copter and the ground station and also describes about the synchronisation between them.
Keywords— Tri-Rotor UAV, Stabilisation, Surveillance.
I.
Introduction
Camera based surveillance has long been used for security and observation purposes. Surveillance cameras are typically fixed at known positions and cover a circumscribed area defined by the field of view of cameras. Although some recent vision work has addressed autonomous surveillance, in most cases humans perform the sensory processing, either in real time or by reviewing footage. Likewise, humans have performed reconnaissance, or scouting, for centuries in military and other applications in order to inspect terrain and identify and classify activities in the environment. In this UAV project, we combine the sensory capabilities of surveillance with the mobility of reconnaissance by mounting cameras on mobile robotic platforms. The resulting groups of collaborating reconnaissance and surveillance robots pose interesting challenges in vision-based surveillance algorithms and mission planning.
II.
In our project we have two modules such as copter and user control unit called ground station. The main part of the UAV is nothing but a flight control board. The main function of the flight control board is to process the control signals transmitted by the ground station and to control the direction and stability of the copter. The ground station is a portable unit which is handled by the user to control the copter. We also have an LCD display to watch the video picked by the camera in the copter.
The first question that one asks about the Tri-rotor UAV is how it stands out from the traditional one. Hence a short introduction about the Tri-rotor UAV construction and steering principle is necessary. The tri-rotor UAV is a mechatronic system with three rotors that provide the lift and control. With respect to hover, the main difference is best explained by considering how the helicopters compensate from gyroscopic torques. Traditional helicopters basically compensate from the torque generated by the main rotor through the tail rotor. However the tail rotor compensation conducts a sideways displacement of the helicopter, thus counter steering by
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