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DODU^^^SCHOOl NAVAL POSTGRADUATE SCHOOL LIBRARY Name - & Address Dudley Knox Library Naval Postgraduate School Monterey, Ca 939^3 TRIM SIZE 10 Your Spine will be lettered EXACTLY appears on your Binding Slip" Buckram 598 Color # Stamp " PAUL V. MERZ White in Stamp In Black D Stamp in Gold a </> (0 </> c <o NEW: Bound Before o Q. O D Thesis M54625 Rub Enclosed r- >rr ID D Sample Q Z m z < o ADS: Leave In q Take Out en LU < ffl COVERS: D Remove "D C 3 O Bind in All Bind in m Front dK^Si3a^ INDEXES: Front Stub For Back No Q Index SPECIAL INSTRUCTIONS: BINDERY COPY Approved for public release; distribution is unlimited 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: Approved for public release; Harold A. Titus distribution is unlimited Unclassified SECURITY CLASSIFICATION OF THIS PAGE Form Approved REPORT DOCUMENTATION PAGE la. REPORT SECURITY CLASSIFICATION 2a. SECURITY CLASSIFICATION AUTHORITY OMB No. 0704-0188 RESTRICTIVE MARKINGS lb. Unclassified DISTRIBUTION/AVAILABILITY OF REFORT 3. Approved is unlimited DECLASSIFICATION/DOWNGRADING SCHEDULE !b. 1. for public release; distribution PERFORMING ORGANIZATION REPORT NUMBER(S) NAME OF PERFORMING ORGANIZATION >a. MONITORING ORGANIZATION REPORT NUMBER(S) 5. OFFICE 6b. SYMBOL NAME OF MONITORING ORGANIZATION 7a. (If applicable) EC Naval Postgraduate School ADDRESS ic. (City, State, Naval Postgraduate School and ZIP Code) 7b. Monterey, CA NAME OF FUNDING/SPONSORING 93943-5000 k OFFICE 8b. ORGANIZATION ADDRESS Ic. (City, State, ADDRESS (City, State, CA Monterey, SYMBOL 9. and ZIP Code) 93943-5000 PROCUREMENT INSTRUMENT IDENTIFICATION NUMBER (If applicable) SOURCE OF FUNDING NUMBERS PROJECT ELEMENT NO. NO. and ZIP Code) 10. PROGRAM TITLE 1. TASK WORK UNIT NO. ACCESSION NO. (Include Security Classification) DEVELOPMENT AND TESTING OF THE DIGITAL CONTROL SYSTEM FOR THE ARCHYTAS UNMANNED AIR VEHICLE (U) PERSONAL AUTHOR(S) 2. LT. Paul V. Merz TYPE OF REPORT 3a. 13b. Master's Thesis TIME COVERED FROM 14. DATE OF REPORT (Year.MonthJJay) December 1992 TO 15. PAGE COUNT 101 SUPPLEMENTARY NOTATION 6. The views expressed in this thesis are those of the author and do not reflect the the Department of Defense or the U.S. Government. 18. SUBJECT TERMS (Continue COSATI CODES GROUP SUB-GROUP HELD on reverse if official policy or position of necessary and identify by block number) Archytas, CIO-AD16jr, Digital Interface, Pulse-width-modulation Humphrey Sensors, Futaba Servo-Control ABSTRACT 9. (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 Air Vehicle (UAV) designed to takeoff and land vertically and to transition to forward flight. The system is 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: • 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. DISTRmunON/AVATLABILrrY OF ABSTRACT ;0. [x] UNCLASSIFIED/UNLIMITED ] SAME AS NAME OF RESPONSIBLE INDIVIDUAL Harold A. Titus :2a. 3D Form 1473, JUN 86 21. RPT. ~] DTIC USERS ABSTRACT SECURITY CLASSIFICATION Unclassified 22b. TELEPHONE (408) 646 Previous editions are obsolete. S/N 0102-LF-014-6603 (Include Area Code) - 2560 22c. OFFICE SYMBOL EOTs SECURITY CLASSIFICATION OF THIS PAGE Unclassified Approved for public release; distribution is unlimited. DEVELOPMENT AND TESTING OF THE DIGITAL CONTROL SYSTEM FOR THE ARCHYTAS UNMANNED AIR VEHICLE by Paul V. Merz / Lieutenant United 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 for an to develop the digital sampling and control system Unmanned Air Vehicle (UAV) designed to transition to forward flight. The system is computer through an umbilical cable tethered computer controls the sampling and signals digital to takeoff designed to operate from a personal to the platform for hover tests. The conversion of onboard analog sensor and sends control-surface commands for pitch, The and land vertically and roll and yaw motions. thesis effort includes the following four parts: • Design of a controllable Pulse-Width-Modulated Signal (PWMS) to command This control is the servos which operate various aerodynamic surfaces. accomplished with software written to a counter/timer card installed in the computer. • Sampling and conversion programming of an of the signals verification of • Development of various power networks systems prior to engine is the sensors through the analog-to-digital card installed in the computer. • Sensor power-up and parameter engine to start onboard devices. to allow operation of onboard with the ability to be self-sustaining once the 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 in unmanned vehicle. ACKNOWLEDGMENTS There are many people involved tremendous amount of thanks. Without A would have remained incomplete. the daily mechanical to Tom thank problems that in the Archytas project their cooperation special thanks to Hal Titus; patience, always am I feel a his I you I owe a project for his help in I would like me at a It moment's was indeed notice; his talents a pleasure to sincerely grateful to Dr. deep sense of loyalty would whom I work unique demeanor made the painful parts of thesis work like to Rick Howard for to him and the tremendous I will his project. thank the three individuals To Jason and Michele, you were wife my understanding, and support he provided throughout the project. Finally, my Don Meeks I Christian of the Mechanical Engineering department for the wealth were there when they were needed the most. bearable. and guidance would have remained unsolved. of electrical knowledge he could impart to for Dr. whom who sacrificed the most. the best while understanding the least. Toni love dearly, thank you for your exceptional patience; without would not have been able to complete IV this goal. DUDLEY KNOX LIBRARY BSB8WBS8"" TABLE OF CONTENTS I. INTRODUCTION II. III. BACKGROUND A. NAVY UAV APPLICATIONS AND REQUIREMENTS 4 B. THE ARCHYTAS CONCEPT 5 1 AROD Program 5 2. Aquila Program 6 THE DIGITAL CONTROL INTERFACE SYSTEM A. IV. 4 9 SYSTEM OVERVIEW 9 GENERATION OF THE SERVO CONTROL SIGNAL A. GENERAL LAYOUT OF THE SERVO CONTROL AND QUARTZ B. 13 I/O CARD PROGRAMMING MODE 1. 2. 13 F ON THE QUARTZ Programming Overview Detailed Programming of I/O CARD .18 18 the Registers 19 3. V. Mode a. Programming b. Programming of the Counter c. Programming of the Final the Master Programming Notes LOAD for Register Mode and (MMR) .... Register HOLD (CMR) Registers . . Mode F 23 25 26 PROGRAMMING THE COMPUTERBOARD'S ANALOG-TODIGITAL CARD A. B. VI. . 19 COMPUTERBOARDS 27 ANALOG-TO DIGITAL CARD OVERVIEW 27 PROGRAMMING THE A/D CARD 30 UTILITY SYSTEM A. VII. 44 UTILITY SYSTEM OVERVIEW 44 1 Power Routing and Connection 48 2. Signal Connection and Routing 52 SYSTEM TESTING, CONCLUSIONS AND RECOMMENDATIONS 57 A. SYSTEM TESTING 57 B. CONCLUSIONS 58 vi B. CONCLUSIONS 58 C. RECOMMENDATIONS 60 APPENDIX A: PROGRAM GENERATES PWMS 61 APPENDIX B: PROGRAM FOR A/D CONVERSION 65 APPENDIX APPENDIX LIST OF C: D: SENSOR INFORMATION WIRING SCHEMATIC REFERENCES 73 89 90 INITIAL DISTRIBUTION LIST 91 Vll I. INTRODUCTION During Operation Desert Storm and Naval forces it did not take long for to realize the utility of intelligence gathering Remotely Piloted Vehicles (RPV). The current data gathering without risk to Naval forces alike to Even with improvement commanders of ground become human life. RPV through the use of Pioneer allowed for real-time The use of RPV's allowed Marines and self-supporting integrated platforms. the success of Pioneer in the in the current system. It Gulf War, there was noted that still room lies for 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 provided little for the land-based Pioneer. benefit during a time when it Due to these shortfalls, Pioneer could have been irreplaceable as a real-time intelligence gatherer, or spotter for Naval and Marine gunfire. An Unmanned (VTOL) Air Vehicle (UAV) based on a Vertical-Takeoff-and-Landing configuration could potentially help to solve shortcomings. One candidate for such a platform is many of from propeller blades for close operation to UAV a ducted-fan airframe with wings attached. The advantage of the ducted-fan configuration safety the current is that it provides 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. ability to transition to horizontal flight will faster fuel extend the vehicle's range, and allow dash speeds than for a vehicle that translates developed NPS at the once the air vehicle is on The reduced like a helicopter. consumption of a fixed-wing over a hovering vehicle loitering periods Additionally, the will allow for longer Such a platform station. is being Naval Postgraduate School (NPS), named Archytas. will determine: • The proper propulsion and aerodynamic design • The necessary stability augmentation system to vertically lift the vehicle; to control the vehicle in vertical flight; • The optimum maneuver for transitioning the vehicle from a horizontal flight; and • The necessary ground control needed to provide vertical commanded hover to input to the vehicle while hovering and in horizontal flight. The goal of for a this VTOL UAV. onboard systems work was The to develop the digital sampled data control system integrated system will interface a ground computer with to allow for inputs from the onboard sensors to be sampled through the umbilical and converted to a digital signal by the computer. digitized signals can then be applied to control the vehicle's pitch, These yaw and roll rates [Ref 1]. The the control vanes control equations will generate on the vehicle commands that will be sent to to adjust the vehicle's attitude. This investigation examined: • 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. • The development of a system to sample convert them to 12-bit digitized form. • A power system from onboard sensors and to allow all the electronics to operate prior to, engines generator • The design of the signals is and after the up and running. 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 Follow-on projects flight, the vehicle will VTOL UAV in a hover. perform the integration of vehicle control for forward and miniaturization of the computer for autonomous flight. II. BACKGROUND NAVY UAV APPLICATIONS AND REQUIREMENTS A. The Navy's Unmanned Air Vehicle (UAV) program currently lacks an adequate vehicle that will take off in a small area and yet have a long loiter time to conduct operations once on that will take off vertically designated as VIPER station. The Navy has defined a need for a vehicle and conduct extended reconnaissance. (Vertical Takeoff and Landing Integrated Platform for Extended Reconnaissance) whose specifications are described in Reference 2 for a vehicle able to land and takeoff in an area smaller than a deck. The requirements of VIPER lOOnm from loiter the ship in a 25-knot on station for three hours. also state that headwind The concept it in less than LAMPS call flight should be able to transit one hour and be able The primary missions of the vehicle to would be for Reconnaissance, Surveillance and Target Acquisition (RSTA) and Over-The- (OTH-C&T). The ideal vehicle should be Horizon-Classification-and-Targeting highly portable, have a small operations contingency, and be able to operate ashore as well as at sea. At the Naval Postgraduate School been developing a ducted-fan VTOL UAV vehicle. Flight Research Lab, the Navy has This vehicle could be a proof of VIPER concept vehicle to meet the requirements of The missions. vehicle will encompass shrouded propeller with the dash and B. or accomplish similar the personnel safety qualities of a all advantages of a fixed-wing vehicle. loiter THE ARCHYTAS CONCEPT The NPS air vehicle Archytas, named for the Greek contemporary of Plato credited with designing and flying a mechanical bird, test the concepts of a winged ducted-fan VTOL serving as a platform to is The aircraft. vehicle utilizes the technology and equipment developed in two cancelled military programs to produce a quality experimental test The U.S. Marine Corps program platform. produced the Airborne Remotely Operated Device (AROD), and the U.S. AQUILA program developed the successful original in their Both programs, though (Latin for eagle). missions, Army were cancelled, providing assets for development of new programs. 1. AROD Program The major the vehicle parts of the Archytas have come from which was designed by Sandia Laboratories Naval Ocean Systems Center [Ref 3]. a short-ranged hovering vehicle. The The AROD vehicle fiber optic link or remotely with a modified was the AROD program, in conjunction with the originally designed to be was designed to be controlled by commercial modeler's radio. The vehicle, which resembles a 3-ft-diameter duct, was powered with a mounted 28-horsepower engine turning a three-bladed propeller. vertically- 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 stability single propeller in a duct simplifies the design, but creates problems caused by the torque of the engine and by gyroscopic coupling of the pitch and yaw moments. This problem was overcome by Sandia development of a Multiple Input Multiple Output utilized sensors (MIMO) with the robust controller that 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. of thrust, due The AROD, first flew successfully in 1986. to the high power weighing about 85 pounds and producing about 105 pounds level Its endurance was limited needed for hovering. The to one hour vertical design and axial flow of the propwash limited the vehicle's forward speed. 2. Aquila Program The AQUILA, an ARMY-developed wing foot tailless the vehicle that provides the UAV wings for the Archytas,was designed by Lockheed [Ref pusher platform. wing span and length of 7 The airframe feet. The is 3] as a mid-range fixed- a composite structure with a 13- vehicle was powered by a horizontally- mounted 24-horsepower engine. The vehicle wing elevons ailerons) were the primary surfaces needed a sophisticated dedicated (acting as elevators and to control the vehicle in flight. flight control electronics The package AQUILA to provide control and stability. The design of them to to the duct used the Archytas has taken the in the AROD program. It was AQUILA also necessary to add a canard provide an improved means of longitudinal control. be vertically oriented as a hover to a tail-sitting airplane. wings and attached The The duct and wings will vehicle will be designed to determined altitude while the controller commands the four control vanes that will maintain pitch, yaw, and will then roll over to horizontal flight speed and an improved endurance. A roll rates. which Once at altitude the will allow for an sketch of the vehicle is vehicle increased forward shown in Figure 1. T OP VIEW STDE VTEW AROD Canard Aquila Wings Lower Body Figure 1 : Sketch of Archytas 8 THE DIGITAL CONTROL INTERFACE SYSTEM III. SYSTEM OVERVIEW A. The of the Archytas vehicle requires a computer controller to instability control pitch, roll and onboard sensors, and the response. The original ability to AROD With this in The it would have been mind, it flexibility then digital controller requires input command a surface to generate the desired This system was not used because difficult to find interfacing became necessary to develop a new and low cost of personal computers develop the system centered around an IBM to a personal it was equipment for it. interface system. made it personal computer. The of Archytas will involve the vehicle in a hover. ground linked from computer, a Motorola 68000 CPU, provided the controller and interface functions. outdated and A yaw motion. desirable to initial testing This means the vehicle can be computer through an umbilical. The umbilical will allow the computer to sample and evaluate the sensor data. After the sensors' data is evaluated, the computer can then send a umbilical to one or more of command the four control vanes. for vane angle through the The umbilical link can also be used to control the the throttle servo from the ground. Once computer system can then be miniaturized Enabling the computer to complete special-function cards to the computer. its The to allow AM9513A system is tasks required the addition of first The Quartz card The card has five modes ranging A-X expandable to ten two card added (Diamond Systems (PWMS) is to control the a multi-purpose card with the The chip system timing controller as the main chip aboard the card. has a versatile group of proven, onboard placement. Quartz I/O) generates the Pulse-Width-Modulated Signal four control vanes and throttle. this that are shown in the users manual. 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 oscillator that can internal series of frequencies derived be exported. from a 1 MHZ Additionally, the counter/timers can be used to generate retriggerable one-shots of varying duty length. A list of the 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-AD16jr card by Computerboards provides sampling and analog-to-digital conversion. open-ended input, or 8 differential input, card. that provides a versatile The card Aboard the card that is a 16-channel is an 8254 chip range of methods for triggering the conversion process. 10 The card converts from analog to digital conversion time of about 3 nanoseconds. ability to vary the input through various A by successive approximation with useful feature the card provides is 10V ranges from a bipolar +/- a the to a unipolar 0-1. 25V. The final systems to be engineered were the included the umbilical and utility These systems systems. power systems. The power system included voltage supply for the sensors, electronic ignition and a signal conditioning card. This A major system was difficult to design because of the diversity of each system. difficulty in the design of the the vehicle. power system was Additionally, the various systems other as well as with the computer. to A the need for all needed it to fit compactly on to interface with each concern for the power system was the need provide power to the various systems prior to the engine generator being up and running. A basic overview of the overall system the basic systems SYSTEMS will is shown in Figure SERVO CONTROL, ANALOG TO DIGITAL, be described in the following chapters. 11 2. and Each of UTILITY L0¥ER OF BODY MOE n (0 << UTILITY SYSTEMS UMBILICAL Figure 2: Basic Electrical System Design 12 IV. A. GENERATION OF THE SERVO CONTROL SIGNAL GENERAL LAYOUT OF THE SERVO CONTROL AND QUARTZ I/O CARD The digital controller surfaces on the vehicle. move each of needs the ability to The original AROD command movement design used Futaba S-134 servos to These servos are general-purpose hobby the four control surfaces. The servos have remote-control items that cost about $40.00 each. (1) 5 volts; (2) 5-volt signal ground; and (3) a Pulse- Width-Modulated-Signal powers a small DC of the control three inputs: (PWMS). The motor, and the small amount of Transistor Transistor Logic (TTL) onboard the device. A PWMS characterized by a is The square wave whose duty cycle varies between 0.6 and 2.4 milliseconds. width of the pulse drives the servo proportionally to the intended position. narrow pulse of 0.6 milliseconds may drive the servo hard right, millisecond pulse will drive the servo proportionally less right, millisecond pulse may every 10 milliseconds. the 3 PC provided the shows a typical drive the servo hard The addition of the ability to create the PWMS. The left. 13 while a 1.0 and is a 2.4 refreshed Diamond System Quartz I/O card PWMS user's PWMS The servo to command manual for the A the servos. to Figure Quartz I/O card was VARIABLE PULSE WIDTH 5V RISING EDGE > < FALLING "EDGE OV REFRESH RATE Figure 3: 10 ms Pulse Width Modulated Signal (PWMS) 14 written with the intention of the card being used in conjunction with proprietor This documentation was not adequate, or useful software written in Basic or C. PWMS. in the generation of the desired set up count on a "CALL" "CALL" This is mainly because the modes (A-X) to a routine that is only provided to a subroutine is not explained in the card's difficult to understand exactly what is documentation, making being done. Additionally, the are only compatible with Microsoft C, not with Borland C. routine mode was not provided, into the sheet for the AM9513A the card to be the AM9513A, was necessary it chip programmed programming was done to register-level is at register level to in Since the program The data included in the manual. Borland C to it C programs "CALL" the desired onboard system timing controller chip. the This in object code. The data sheet allowed obtain the desired output. All of provide a robust environment for later use. To allow the ADDRESS PC to interface with the card, the first step is to set the dip switches to a non-interfering address that the For interface with. this application the onboard dip switches. The BASE ADDRESS location of the dip switches C programs 225 hex was on BASE the card is set will on the shown users manual. This selects the base address of the port the program will write or read from. The card each eight bits, is in to, read and written to at one of three addresses which are or one byte wide. Table 15 1 describes each of the functions The general associated with the base addresses and their offsets. AM9513A registers' access shown is The data bus multiplexor ADDRESS + 1), or the address the binary word is being written will between modes The to. be loaded into A in TABLE 1 : through X. WRITE DATA REGISTER CONTROL REGISTER 1 2 INTERRUPT ENABLE 4* 5* * depending on which CONTROL PORT determines to select the operating mode The data the desired sheet showed DIGITAL OUTPUT PORT 9513 #2 DATA REGISTER 9513 #2 CONTROL REGISTER PWMS. READ 9513 #1 DATA REGISTER STATUS REGISTER DIGITAL INPUT PORT AND INTERRUPT RESET NO FUNCTION 9513 #2 DATA REGISTER 9513 #2 STATUS REGISTER 9513 #1 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 of that QUARTZ CARD INPUT/OUTPUT MAP 9513 #1 9513 #1 3 CONTROL PORT (BASE any mode chosen from those offered programming mode F allowed generation of OFFSET FROM BASE ADDRESS 4. either the selects The card can be programmed in the data sheet Figure DATA PORT (BASE ADDRESS), which register incoming data the card. in layout of the Figure 4: AM9513A 17 Register Access B. PROGRAMMING MODE F ON THE QUARTZ Programming Overview 1. To AM9513A enable the card to produce the desired counters Borland C. programmed is C Borland must the card, the card for mode PWMS, The programming F. number first be to the output port desired. Then reset. the Master To Mode programmed through each (CMR). Each of the five counters has be programmed, called The desired signal. LOAD when loaded LOAD LOAD The and and HOLD and ms LOAD HOLD HOLD (MMR) Then each of two additional multi-purpose Mode must the five Register registers that can registers. registers play The registers. down key roles HOLD to zero refresh rate of the signal. register. in the generation of the The signal is register contains a and Once fires a 18 that down, in the individual LOAD The count between 0.6-2. 4ms. its one-shot high (5V) number contained held high until the the desired pulse- width number the hold register counts reaches zero, causing the one-shot to be reset (0V). REGISTER creates in begin programming counter's Counter the counter is then toggled to be loaded with the counters done individual channel counter alternates in being loaded from in the counter counts creating the 10 is all Register be programmed to control the overall function of the card. counters must be each of the five has a function called "outportb(address, command)" that outputs the 8-bit decimal respective CARD I/O register count in the LOAD Varying the number LOAD register varies the pulse-width. When the LOAD register counts loaded in the to zero the count counter toggles and down till Most part command command, first command command, is available DATA PORT The is first loaded through the DATA POINTER that will need register, to CONTROL PORT + 1). the Master step to Mode Register program any mode command step is to is found program in CONTROL PORT possible selections of the which shows how Sending the up the multiplexor to MMR. to select the Then (MMR) in the card is to reset the card. to the Figure MMR. the writing 23 (binary 00010111), obtained from the register to the The second entry into the appropriate register. This reset The next sets It is DATA PORT, be loaded. accomplished by writing 255 (binary 11111111) (base address CONTROL PORT. loaded in two 8-bit bytes through the register Programming a. for the Quartz I/O card are two- points to the register to be loaded. appropriate decimal equivalent to the Reset beginning the of the Registers is Figure 5 shows the access every load the next HOLD REGISTER programming commands that generally a 16-bit 8 bits at a time. to Programming register commands. The an 8-bit loaded from the the signal will be refreshed again. Detailed 2. is CONTROL PORT 6. This is accomplished by DATA POINTER MMR. (Figure 5) Figure 7 shows the 16 bits of data are loaded into the 19 all the MMR 8 bits at a time through the 10110000) is Most of PWMS, The first 8-bit number 176 (binary loaded followed by the second 8-bit 65 (binary 01000001). assignment selects the 2. DATA PORT. This bit MMR (Figure 7) to operate in the manner described in Table the selections in the MMR are arbitrary and have but do need to be specified for operation of the card. 20 little effect on the « C7 cs CS 04 C* M CI u r r CO SMO n i i 000 M IV f< at ? 01 =~n 1 0« 000- 00 < ll < 00 < / Cy*o 01 to- < • 2 } •0 J • 0*01*1 QtoupZ QroucJ • ConraCywinc 101 < 110 • 111 < Orw»4 Orouei '(No Figure TABLE • 010 Oil 100< (HOW C*e»t *cr*mm<t} 01 10 11< 001 2: BIT 5: Data Pointer Register ASSIGNMENT FOR MASTER MODE REGISTER BIT ASSIGNMENT BITS MM15,MM14,MM13,MM12 1011 MM11,MM10,MM9,MM8 MM7,MM6,MM5,MM4 0000 0100 FUNCTION BCD DIV,DISABLE INCR, 8BITBUS, FOUT ON FOUT IS DIVIDED BY 16 FOUT SOURCE IS Fl MHZ 1 (FIGURE MM3,MM2,MM1,MM0 0001 8) DISABLE COMPARE AND DISABLE TIME OF DAY 1 21 2 C* C7 C4 ii ca C1 CO a* 02 01 (0*000. olEMS o*noi •1 •1 Si Si S1 Si N2 N1 K3 N1 N2 N1 jj Tgpjjj cu SJQjj far 9* (LOW) lor N (OOKN<101) N (001 <N<101) N (00KN<101) tot MM14 ft* MMU (Data eft WT) m %m MV13 (Era* i«-w merM) Oaarflaan Jtrmt* Oaa S aaawcaaJ MMH (Oa» on OUT) MM11 (EflMr Mai toa Figure 6: AM9513A Command Summary Sheet w OUT 0000 > f 1 or' 0001 on *y* *« 0010 *»* •yo 0»7 •yo 0101 0110' 0111 1010 0010' 0011 " ' 0011 0100 -•NC1 -ones -ones -owe* -owe* 0ATE1 -OATf » MOO -OATf J 1001 -OATf 4 0110 • 0111 •¥» 1010 ' Syli 1011 ' 1101 1110' •»« •»» •/« 1111 kytt 1111 - 1011 1100' 1101 MMIS • MM I -OATES • »1 1100 • n -us 1110 MMIS IMMttlMMII •M10 MM7 I ma I mm2 I -M H mmi iMo I LI- four*. o-rouron o-*o 1 -•OUT -«o Oil Figure 7: Master ZtoONO) Mode Register Bit Assignment 22 Programming of the Counter Mode Register (CMR) b. The Quartz I/O card and Circuit (I.C.) has five that control the servos that five PWMS. 1-5 to the selects need change the vane positions. Channel movement on DATA POINTER the engine. any of the five register (Figure 5) through the CMR. The following example all five PWMS five outputs the Therefore, be programmed the same, and are done successively. to Integrated Counters one through four output the that controls the servo for throttle CMR AM9513A programmable counters. The Archytas vehicle needs counters to output the needed PWMS in particular the all Loading a CONTROL PORT illustrates the process for loading counter one; the other four are done in the same manner. The first step in CONTROL PORT 00000001) in the to load the low and high bytes loaded The bit is programming to select into the CMR CMR one counter one via the list shown in CMR. The DATA PORT. 98 (binary 01100010), and 27 (binary 00011011) assignment to load a is is 23 next step The low is byte the high byte loaded. Figure 8 and Table 3 show the causing various important actions to occur. one (binary CMR bit assignment h wmmtm • • • • •«•» wet met -0 1 CMrt OftTtt • OATf •0 • 1 - I MOD > OATt* MM •• - **TI» WW 0*H« - Mil i« 1 •« n • H • .0 > 1 • • Pi iwt * 1111 - - OTC« 0t« •111 •0 • 1 • TOn WCl Cm* CMS • 1 CM1 CMP •M • •«-•< »M^* Mtfitl«MiaA'ttN*1 V* - TCT« M««hl«H>aATIN-1 •11 • Miju T« w—igwtw LMM««OATIN 110 in 111 Figure TABLE BIT 3: 8: Counter Mode Register Bit Assignment COUNTER MODE REGISTER ASSIGNMENT CM15,CM14,CM13,CM12 CM11,CM10,CM9,CM8 CM7,CM6,CM5,CM4 BITS 0001 1011 0110 BIT ASSIGNMENT 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 CM3,CM2,CM1,CM0 0010 COUNT DOWN, WHEN TERMINAL COUNT IS REACHED ON LOAD REGISTER TOGGLE COUNT TO THE HOLD REGISTER. 24 Most of setting This is is the above settings are self explanatory. that of the count being toggled the heart of the PWMS. As loaded with a number that between the LOAD and the discussed previously, the when counted The most HOLD HOLD critical register. register out, refreshes the signal to the servo firing a one-shot to a high voltage level (5V). Once counts out and resets the one-shot to a low value. high, the The number LOAD in the is by register then LOAD register translates to the variable pulse width desired. c. Programming of the There are counters, counter which need LOAD LOAD and HOLD registers can be accomplished CONTROL PORT. As The Registers registers The by writing a 9-13 initial is new number its (binary 00001001 value loaded is through the loaded with a high and low byte is a zero deflection angle of the loaded into the To change the position LOAD REGISTER. will be translated into a different width signal, servo to change which is This then sent to the position at a refresh rate of 10 ms. The of any of the new number of the five selection of any of the five PWMS translated to the servo that controls the vehicle vanes. of one of the five servos a for each DATA POINTER register (Figure 5) before, the register DATA PORT. HOLD and be loaded successively. to through 00001 101) as shown on the through the LOAD HOLD HOLD registers registers are also loaded successively. is The selection accomplished by loading a 17-21 (binary 00010001 25 through 00010101) into the as shown in Figure 5. is Once this is DATA PORT. as data into the register DATA POINTER register through the CONTROL PORT accomplished, the low and high bytes are loaded For the purpose of generating the loaded with a value that makes the PWMS, refresh rate for all the HOLD five channels approximately 10 ms. 3. Final The load and arm Programming Notes final counters will begin to operate. In command These programming steps is is to can be seen that when a CONTROL PORT all will allow the counter to to generate the for user interface to determine change of angle is number Quartz I/O card given. program allows angle input to a it loaded into the is Appendix A, a program used desired. initialize the In reference to Figure 6, decimal 127 number (binary 01111111) operate until a disarm Mode F event that must occur to counters. all for One equation is PWMS is given. The which counter and how much of a used in the program to convert a degree to load into the load register to obtain the desired pulse- width. 26 PROGRAMMING THE COMPUTERBOARD'S ANALOG-TO-DIGITAL CARD V. COMPUTERBOARDS ANALOG-TO DIGITAL CARD OVERVIEW A. With the programming of The next vehicle. step in the the Quartz card we have development of the digital controller is a convert the onboard sensor information to digital form. This the use of the card is the ability to control the is method to accomplished through Computerboard CIO-AD16Jr 16-channel analog-to-digital card. The 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 to 84 pages contain useful, but incomplete information. the fact that the proprietor software subroutine is used in every mode provided in other than object code. is provided in Basic. that requires a To function This is partly due Additionally, "CALL" that is not use the card for the purpose needed necessary to obtain the onboard counter/timer data sheet (Intel 8254), experiment with many of the a it was and to settings. Prior to the card being installed in the computer, the board must be strapped for a non-interfering address. For this application the 27 address was strapped for 300 hex. The additional address options can be found by referring to users manual. addition to the address setting, the card channel single-ended input. relevant since a IBM The card is was strapped 386 machine handles memory programmed The card allows in Borland is M for register level addresses that provide various functions. used 1 MHZ operation and 16- The Direct Memory Address switch "inportb(address)" and "outportb(address,data) addresses. for The C In selection is not transfers. using the library which allow access functions to external port programming through sixteen 8-bit analog-to-digital conversion method successive approximation with each conversion taking approximately 3 nanoseconds. The input signal of the function of each address is is converted to a 12-bit digital number. shown below 28 in Figure 9. A summary ADDRESS BASE BASE + BASE + 2 BASE + 3 1 READ FUNCTION A/D Bits 9 - 12(LSB) WRITE FUNCTION & Stan A/D Conversion Channel # None A/DBits l(MSB)-8 Channel Digital MUX Set Channel 4 Bit Input MUX Read Digital 4 Bit Output BASE + 4 None None BASE + 5 None None BASE + 6 None None BASE + 7 None None 21 BASE + 8 Status BASE + 9 DMA, Interrupt &Trigger Control Set BASE + 10 Pacer clock control register. None BASE + 11 Gain Gain control EOC, UN1/BIP etc. None setting read-back. DMA, INT etc BASE +12 Counter BASE +13 BASE+ 14 CTR 1 Data - A/D Pacer Clock CTR CTR 2 Data - A/D Pacer Clock CTR 2 Data A/D Pacer BASE +15 None. Counter Data No read Data - A/D Pacer - Pacer Clock Control (8254) back on 8254. Figure 1 Data 9: A/D Card Address Overview 29 PROGRAMMING THE B. Programming A/D CARD the card requires the initialization of several of the addresses The from Figure 9 for various desired modes. Multiplexor the (MUX). The number of channels channel desired (i.e., to MUX first initialization MUX The can have various functions. be incremented through, or be used to point 0-15). The MUX also is that of the is can set up at a specific 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 read. This is MUX also can be used to reset to the desired channel to be done by writing to the MUX contain the channel desired for conversion. in where the upper 4 The layout of the bits of the MUX register is MUX shown Figure 10. The MUX register is divided into two halves. The lower half (bits 0-3) of The upper half (bits 4-7) of the register selects the starting channel to be converted. the register selects the ending channel. converted. Then, when triggered, the The MUX MUX points at the channel currently increments itself register to the next channel to be converted in a continuous loop. register sets the number STATUS register channel and current in bits 4-7. 30 A/D and the STATUS Every write to this MUX to the channel BASE ADDRESS + 7 6 CH ** L 4 5 CHH8 CHH4 * 2 CHH2 CHH1 ** refers to channel refers to 2 3 H CHL8 CHL4 1 CHL2 CHL1 refers to high channel low channel Figure 10: Set up of the Multiplexor register The next address be initialized to the analog input range. is channels can only input the selected voltage range. of the 1 1 many The . values shown in Table 4. The selection of the appropriate bits selects the desired input voltage range. This range for the current configuration. 00000101) to base address + layout of the register is to voltage range of 0-5 V is shown in Figure base address is 5 4 X X X X Figure 1 1 : 3 RANG 2 UNI/B Analog Input Range Register 31 11 setup by writing a decimal five (binary BASE ADDRESS +11 6 + the input range 11. 7 A/D The voltage range can be one from Table 4 written A All sixteen 1 Gl GO TABLE RANGE BIT SELECTION 4: UNI/BI FOR ANALOG INPUT RANGE GO Gl INPUT RNG + - 10V 1 + -5V 1 + - 1.25V 1 1 1 + - .625V 0-1 ov 1 1 **** + -2.5V 1 1 1 1 1 0-5V **** 0-2. 5V 1 SELECTED RANGE FOR THE APPLICATION 32 0-1. 25V The next address initialized is Memory Access (DMA), Direct program to store the location. Although BASE ADDRESS + 9 is DMA and trigger control. interrupt, most recently converted channels DMA which controls not used during this in a specific application, considered for later development to increase operating speeds. allows the PC memory DMA should be BASE ADDRESS +9 allows the selection of interrupts two through seven and allows them to be onto the PC conversion trigger can be selected control register is shown BASE ADDRESS + 7 INTE 5 4 3 IR4 IR2 IR1 X set to desired interrupt. 1). The DMA, the bits, interrupt and trigger 9 6 Selecting INTE and (bits mapped Figure 12. in Figure 12: while by the selection of the appropriate Additionally, bus. the INTE = 1 DMA, (bit 7) 2 1 DMA TS1 TSO Interupt and Trigger Control enables interrupts to zero disables interrupts. be placed on the Bits 4-6 select the binary bus, number of Interrupts zero and one cannot be asserted if selected; 33 PC the these are these are reserved for the selected; to PC memory, while a zero in PC. bit Selecting two disables important because they select the source of the start selections are listed in TABLE 5: 1 allows Bits zero conversion 5. METHOD which the "SOFTWARE TRIGGERED A/D" number MUX is to the pointed address at to be converted to digital signal placed which the MUX is BASE ADDRESS. selection allows for the conversions to be edge (pin 25) START ON PACER CLOCK PULSE (CTR2 1 writing any and one are The conversion start. START ON RISING EDGE TRIGGER If storage SOFTWARE TRIGGERED A/D 1 1 DMA TRIGGER METOD X rising DMA. A/D START CONVERSION TSO TS1 Table A/D DMA = is selected, the conversion begun by This causes the current address its 12-bit digital form. pointing to be converted. selection utilizes the onboard pacer clock and The The rising at The second "EXTERNALLY TRIGGERED" on pin 25 of the card. 34 is out) by a edge causes the final start two onboard counters conversion to control the conversion. In this conversion. In this causing the start mode mode counters counter 1 is 1 The of conversion. and 2 can be used to set the frequency of used serially in conjunction with counter 2 rising edge of counter 2's output square wave triggers the start of conversion. The next five registers all work shows the interrelationship of these in conjunction with five registers, Figure 13 each other. and Figures 14 through 18 show the layout of each register. GATEO CONTROL REGISTER BASE + 10 CTR IN CTR #— { A/D PACER PACER CLOCK 35 Control Register 2 OUT , 25 Figure 13: CTR 20 OUT ) TRIGGER BASE ADDRESS + 10 7 6 5 4 3 2 1 X X X X X X CTRO Figure 14: BASE ADDRESS + PACER CLOCK Control Register 15 7 6 5 4 3 2 1 SCI SCO RW1 RWO BCD2 M2 Ml Figure 15: BASE ADDRESS + CTR1 MO COUNTER CONTROL 12 7 6 5 •4 3 2 1 D8 D7 D6 D5 D4 D3 D2 Figure 16: COUNTER 36 Dl BASE ADDRESS + 13 7 6 5 4 3 2 1 D8 D7 D6 D5 D4 D3 D2 Figure 17: COUNTER Dl 1 BASE ADDRESS +14 7 6 5 4 3 2 1 D8 D7 D6 D5 D4 D3 D2 Figure 18: The the interface timer PACER CLOCK COUNTER control register (PACER CLOCK). The 2 BASE ADDRESS + 10 between the board functions and the Dl Intel (Figure 14) 8254 programmable is interval remaining four registers are resident onboard the 8254 and are accessible from the addresses shown. 37 Programming the PACER CLOCK control register consists of four possibilities. is CTR0=0 and TRIG0 = 1. control the start conversion. The selection for the purpose desired This selection allows the If desired this connector to affect the conversion. The pin mode 2 output to also allows pin 25 of the cards pulled up to is COUNTER + 5V, and will always be high unless an external connection to pin 25 pulls the pin low which would disable conversion. The remaining selecting 15). COUNTERS them through commands Additionally, CONTROL register. from the 8254 data application is mode To internal to the 1 8254 From sheet. three. the must be selected mode selected for this the data sheet the desired COUNTER 1 1XXXX (X at the and indicates it COUNTER it is Loading frequency 2. must point a multiplexor COUNTER 1 requires a binary does not matter which binary number) to be written to the COUNTER CONTROL register (BASE ADDRESS + (refer to Figure 15) select the desired register. which stands for at a necessary to refer to the 8254 COUNTER CONTROL desired counter. COUNTER PACER CLOCK This selects a repeating square wave load a counter, the 8254 register (Figure up through the set is load any of the 8254 onboard registers, data sheet. 01 the 2 can be loaded by COUNTER CONTROL The operating mode of determined by numbers loaded in To to the mode of the COUNTER through READ WRITE) select a Bits 15). Bits RW1 = 1 SC0=0 and SCI = and 1 RW0=1 (RW loading scheme for the desired register, 38 most significant byte. in this case the least significant byte first, then the COUNTER 2 binary Bits Once COUNTER 2. select The counters square wave which are loaded with is The read/write numbers must be loaded with a value manner to to Mode produce the desired output. M2=X, Ml = 1 and M0=1 wave is loaded select COUNTER to the 3 bits to complete, the is be 10 MUX milliseconds accomplished by setting up the card for into COUNTER 2. and 1 wave whose COUNTER 2. BASE ADDRESS + 15 of sheet, RW1 and To the RWO, COUNTER CONTROL which from the 8254 data sheet produces begins sequencing through the desired channels scanning one channel per rising edge. numbers COUNTER CONTROL 8254 data The first. mode 1]. output. initialization was established three create a 10 3 produces a square loaded into is With Reference which byte the desired square Once XXI 1X1 10 a binary COUNTER CONTROL. select as before previously enable the 8254 to operate in the desired frequency depends on the values loaded in rate make mode that the registers are loaded with values, then the mode bits are as the desired sampling rate for the control laws' [Ref register select this select 1XXXX is loaded into the COUNTER CONTROL register. SC0 = 1 and SCI =0 described. ms 101 To COUNTERS The output of 1 and 2 [Ref The 1]. control laws' sampling This sampling rate "EXTERNAL TRIGGER". Then that COUNTER 2 39 create is a 10 ms is loading square wave out of then be fed into pin 25 of the card to provide the rising edge of the rate. This method is "EXTERNAL TRIGGER" in Appendix B to "SOFTWARE TRIGGERED MODE", polls the interrupt bit The programmed software allows This channels to be converted. trigger control being returned to trigger is to the changed back to is till the set, STATUS REGISTER. The then the to allow MUX mode of conversion to point at the desired done prior . register. After the channel is changed the number of interrupt After the interrupt "EXTERNAL TRIGGER", is program being cleared and to the interrupt "EXTERNAL TRIGGER" The STATUS not conversion of the other channels. MUX is is cleared cleared and the increments to the next channel to be scanned and waits for the next rising edge from base address and mode does preferred over Pacer Clock driven because that produce an interupt that can be polled from the by writing any value for the desired sampling COUNTER 2. converted, the value can be read and assembled from BASE ADDRESS + 1. The 20. 40 registers are shown in Figure 19 and BASE ADDRESS 7 6 A/D9 A/D10 4 5 A/D12 A/Dll 3 2 1 CH8 CH4 CH2 CHI LSB Figure 19: BASE ADDRESS + 7 A/Dl A/D LSB Data and Channel Register 1 6 5 4 3 2 1 A/D2 A/D3 A/D4 A/D5 A/D6 A/D7 A/D8 MSB Figure 20: As shown in Figure 19, the lower four channel that has been converted. Bit bits of the converted channel. is bits of the The upper four (LSB) of the converted channel. function "inportb(address)" A/D MSB DATA BASE ADDRESS bits contain the BASE ADDRESS +1 To assemble Least Significant contains the upper eight the complete 12-bit word Borland C used to read the two register addresses. 41 contain the Then the BASE ADDRESS contents read from the The channel number, and leave the LSB. (Figure 20) are then rolled left four bits to two numbers, they are bitwise ORed are rolled right four bits to to contents read from make room make for the remove the BASE ADDRESS + LSB. To assemble 1 the 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 (BASE ADDRESS + BASE ADDRESS + 7 6 EOC U/B 8). The many convenient STATUS register is uses is the shown in STATUS REGISTER Figure 21. 8 5 MUX 4 3 2 1 INT CH8 CH4 CH2 CHI Figure 21: Status Register The most significant bit of the conversion has been received; conversion complete. unipolar (U/B = l), STATUS EOC = The next bit 1 register EOC indicates that the end of means busy converting, while U/B or bipolar (U/B=0). tells MUX 42 EOC =0 means whether the input amplifier bit tells is in whether the input channels are single-ended or differential. received on pin 25; This received. sampling the A rate, CPU. The program bit and INT = The INT means no bit tells whether an external pulse has been pulse, and INT=1 means can be conveniently used for polling later applications final four bits tell at to set that converts input channels from analog Appendix B. 43 MUX is to digital been up the control law can be placed on the internal which channel the a pulse has PC bus to free up currently pointed. is included in the VI. A. UTILITY SYSTEM OVERVIEW The vehicle. UTILITY SYSTEM utility system incorporates many diverse systems on the In general the utility systems include the systems needed to sensors, control system servos, and the electronic ignition. includes a method commands from getting for the computer signals from the sensors to the vehicle. Archytas power the Additionally the system to the computer, and All of these systems have to be contained compactly and securely in a housing aboard the vehicle. When NPS received the which each contained all AROD vehicles they contained two forebody units the electronics to operate the vehicles. documentation was received, or available. Unfortunately no Observations of the units' complicated wiring coupled with no schematics made the aspect of using the existing wiring impossible. With mind this in the tasks were to gather the data sheets on the sensors and establish what power systems were available and engineer a new system. other task was to make The the utility housing self contained and able to be attached to both the vehicle and the umbilical. The direction taken was to get connected. This control system would one control system roll-rate completely unmask many hidden hardware problems and 44 make the the addition of other sensor connections easier. power for ignition, power and The systems connected were 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 designed 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 Figure 22: Housing Attached to the Vehicle 46 Figure 23: Housing Unit Power Routing and Connection 47 Power Routing and Connection 1. The next From requirements. various DC-to-DC was step to the original begin routing power to meet each system's AROD configuration the housing unit contained These are converters. whose output units is a specified constant once the input reaches a certain minimum value. The configuration from the original AROD comes with power supplies electronic ignition, and servos. + 12V, +/- 15V, and +28V. power supply to the servos through Futaba J is connectors can conveniently power the that Available power supplies on the unit are +/- 5V, As shown on + 5V. (to sensors, This is the schematic in Appendix D, wired directly from a +5V the converter allow disconnection for housing removal) to the five S-134 Futaba servos. The from the ground, is electronic ignition for the engine requires + 28V DC +28V converter through a Futaba and a return line for the G connector. +28V. This The connector sheet is in Appendix C, and picture wired contains tachometer from the electronic ignition which routed back through to the umbilical to allow measurement of engine The only sensor wired up is is is the single axis roll-rate sensor shown in Figure 24 and 25. RPM. whose data 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 from the vehicle The in computer-usable form. 48 A/D card which provides the input control laws can then be applied to the vehicle input. The computer can then generate from the Quartz I/O card and send correct the vehicle's roll-rate. sensor to is it PWMS the correct back through the umbilical The sensor requires +/- 15V to for the vehicle to the power connected to the appropriate power supply through a Futaba allow removal of the sensor from the housing. The data G servos to up. This connector sheets for the remaining sensors that will require installation are included in Appendix C along with pictures of each. The next the vehicle to receive step in the hardware connections was power from externally until engine ignition. the The fit provide a means for onboard generator, or have power provided original AROD had a card with a group of diodes arranged in a fashion to allow dual power sourcing. to to This card was adapted inside the housing and wired to allow external connection for plugs, and wired to the onboard generator. power through This card allowed external power connection to power servos, ignition, and sensors prior to the engine running. the engine is running and the generator is After supplying power, the external connections can be removed to provide the ability for independent 49 flight. Figure 24: Roll-Rate Sensor in Housing 50 Figure 25: Roll-Rate Sensor (lower) Pitch and 51 Yaw Sensor (upper) Signal Connection and Routing 2. Once power be connected. at the in the applied to each of the devices, the controlling signal must The servos each computer. Then connector. is This is require a PWMS to be connected that is originated accomplished by connections from the umbilical through a the signal is routed through the housing and joined as the third wire Futaba J connectors that connect the power to each servo. This means that the +5V servos are each connected to a 3-wire Futaba J connector that contains ground, and a PWMS. This connection The connected correlates to shown on is roll-rate sensor signal output +/-100 degrees/second of conditioned to the 0-5V range that the from the roll-rate sensor is sent developed by AROD roll rate. A/D card from the sensor Once engineers. necessary voltage range of 0-5V, the schematic in This outputed is set to a up is +/-2.5 a is roll rate to convert. VDC needs The that to be signal conditioning card that was the sensor output the signal Appendix D. then routed is conditioned to the to the umbilical through connectors as shown on the schematic in Appendix D. The umbilical provides to control the servos. and to to the vehicle the means of sending the PWMS to the vehicle Additionally, the umbilical provides routing for the roll-rate sensor signal and the tachometer. connected a The umbilical is an unshielded cable that through a cannon plug on the housing shown computer by connections shown 52 in Figures 27 and 28. in is Figure 26, Figures 27 and 28 show the cables run from the in the computer. roll-rate and Additionally throttle. A/D shown card and the Quartz I/O card that are installed in both figures The terminal block shown in is the joy stick that both figures commands 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. 53 Figure 26: Umbilical Connection to Housing 54 Figure 27: Umbilical Connection to Computer 55 Figure 28: Umbilical Connection 56 to Computer VII. A. SYSTEM TESTING, CONCLUSIONS AND RECOMMENDATIONS SYSTEM TESTING Testing of the various systems has occurred The ability to control movement of the vanes various stages of the project. at became important and was tested when and torque measurements were needed during the summer of 1992. The static thrust Archytas vehicle test move stand allowed the computer to through the umbilical during engine operation. The ability to and one or all the vanes and throttle command the throttle, four vanes incrementally was instrumental in making accurate measurements of the desired parameter. The A/D system was the Futaba S-134 servos tested and utilized when that control the the became necessary to model vanes to determine the frequency response for incorporation in the control laws [Ref was accomplished by commanding it 1]. The data gathered for the modeling a unit impulse signal into the programmed A/D card allowed sampling of the S-134 servo. Then position of the feedback potentiometer inside the servo. Additionally the complete roll-rate system incorporates the software control laws [Ref and utility systems. 1] into the is being tested. The system hardware A/D, servo control, Early hardware problems continue to be resolved to allow 57 complete testing. As with functional systems, the addition of any individually all engineered system to other individually engineered systems is not accomplished without further modifications. CONCLUSIONS B. The desired goal of this for the Archytas to hover to UAV. altitude, This vehicle command is a was VTOL to create a digital interface fixeu .ving airplane that then transition to horizontal flight. establish a complete system to useable form, investigation is system designed The emphasis was to convert onboard sensor information into computer- then allow the information, once processed, to output a signal to attitude-controlling servos on the vehicle to control pitch, yaw and roll. This investigation accomplished the following: • The addition of a Quartz I/O card added to the PC and programming a Pulse- Width-Modulated Signal to control servos. to create • 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. • A was developed that attaches to the bottom of the Archytas vehicle and contains power supplies that allow operation of the rollrate 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. self-contained housing 58 Problems developed systems. in several areas The servos were deemed controlling the vanes. real possibility. The servos The umbilical during the development of the above be have limitations for the purpose of to limited torque, and plastic gears cable was determined to make failure a have noise spikes traversing the cable to the point of shorting the output amplifiers on the 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 and controllable system much time can be spent adjusting programs and locating bugs that cause unwanted behavior. of wiring adds the additional problems of unwanted noise, sometimes bad connections. Overcoming The addition and imperfect or these types of problems provide the best real-world lessons and a feeling of accomplishment. 59 RECOMMENDATIONS C. In continuing include work toward a fully-flyable vehicle, specific recommendations : • Addition of the remaining sensors, and incorporation of the remaining control laws for stability. • Obtaining a shielded umbilical cable • The purchase of adequate servos to remove the noise problems. that operate off PWMS and develop adequate torque for the given job. • Investigating obtaining CPU all the addition of DMA to the Computerboards A/D card to facilitate sampled channels quicker. This would additionally free up the 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 PROGRAM GENERATES PWMS A: /* Written by: Lt. Paul Revised: ' Merz 11/29/92 For: Masters Thesis applied to the Archytas air vehicle This program is written in Borland The program 2.0. utilizes the Pulse-Width -Modulated signals .6 to 2.4 ms. counters and The signal is C compiled and run Quartz I/O card (PWMS) in version to generate of varying duty cycles from produced out of all 5 of the cards designed to vary the position of any servo connected is The program to the counters. is designed to be user driven with the following servo connections: + 5v pin 49 to red wire of servo gnd pin 50 PWMS To to black wire of servo any of pins 5,11,17,23 or 39 operate the card must be strapped prior to installation for the address that will be declared as "datreg". Ref: Quartz I/O User's #include<dos.h> //include <stdio.h> int datreg = *, Manual */ /* preprocessor control lines: 'include' /* inserts a copy of <*.h> /* declare 'datreg' this 544; is at this point the base address strapped prior to card installation int conreg main() <.. = 545; */ */ /^declare 'conreg' as integer value 545 /* functn 'main' executes main body of program*/ . initialize(); chgangle(); /* functn calls 'initialize'sets up registers */ /* functn 'chgangle' executes endless loop to */ vane positions } 61 change ^ ^ ^^ b^ i^ *J^ iltf iitf *T* *T* *T* *T* *T* *T* *T* *T* 'T* *T* /^J<? iJtf T* 5j£ s I ^Itf 5itf iJtf iltf iltf iltf •Is *T* 1* iJtf ^Jtf ^Jtf 5>tf iJtf iJtf bltf *v* *T* *T* *T* *T* T* *T» T* •T* *T* ^ T* iJtf iJtf iJtf *T» *P T* ^tf 5Jtf il^ *T* *T* *T* ^^ T* ^Jtf ^Itf ^ ^ ^ ^ ^ ^ "^ i^ S^ T* *T" "T* *T* *T* "T* ^ ^" ^f "4r *& *^ "A" -i* -it* -il* »X* ^A» *T* *T* ^v* *T* "T* *T* *T* *T* •T* *T* *T* "T* *T* »T* *T* *T* 'T' *T* "st* *^ >t» *X» *A» «X» *X- «X» «X» «A» st» -s> *T* *^ *P- *T^ 'T* •T* *!* *T^ *S *|> */ /* changle number is a subroutine that converts a user input into a integer that can be placed in the load register to change the width The software allows of the outputed pulse width. the selection of any of the 5 channels on the Quartz card. After selection the user inputs an integer number that will be converted to a change in PWMS.*/ /**? *T* ^if *.** *Ji* ^X* %lg *J# *T* *T* *T* ^* *T* ^^ ^Itf ^^ ^j^ *X* *X* *A* *X* *X* *X* *X» ^* ^^ ^* *X* ^* ^* *^ ^* *X* ^* *X* '^ ^^ ^* ^^ ^n ^^ ^^ *^ *X* iitf *T* *X* *X* % ^* ^ sit* *X* ^X* *X* ^^ ^^ *^ *^ *L» *X* *X* *X^ *Xr *X* % *T* ^^ ^* *^ *T* ^ "*X* ^* *X* ^X/ *X* *X* *X* *X» *X* *T* *^ ^^ ^^ ^* ^* ^^ *i* vi^ ^x* % *^* "4* *w* v *-'* ,v chgangle() { int i,hibyte,lobyte, angle, cmnd, vane; /* angle = /* since angle l; while (angle > /* 0) declare variables as integers */ > always */ 0, this causes */ endless loop { printf("ENTER THE VANE NUMBER TO CHANGE scanf("%d",&vane); vane=vane + 8; /* inputs the value of TO vane between 1 5\n"); & */ 5 adding 8 changes the binary value so that*/ 'vane' can be used to label an address */ /*that printf("ENTER 1 /* /* */ translatable to a counter is THE DESIRED ANGLE \n *'); /* input the desired scanf("%d",&angle); vane angle in degrees */ angle = ((1 900/206) *angle + 600); = (angle/256); lobyte = (angle-hibyte*256); cmnd = 193; forms high byte /* forms low byte /* outportb(conreg,cmnd); between 9 13= 0000 1001b */ & 0000 1101b*/ /* select load register of desired counter */ */ outportb(datreg,hibyte); /* upper byte of # to load reg */ outportb(conreg,cmnd); cmnd = 97; /* 233 = /* 97 */ 1110 1001b /* sets toggle high for counter = 0110 0001b 62 */ */ outportb(datreg,lobyte); /* lower byte of # to load reg cmnd = 233; # */ = & to dig */ 1100 0001b disarms counter 1 /* 193 outportb(conreg,cmnd); /* conv fm deg /* hibyte cmnd=vane; /* algorithm to * '* **x* ^tf *X* *X* ' *X* *X* X* X* *X* X* *X* *X* *X* *X* *X* ^p ^^ ^^ *^ ^^ ^^ ^^ ^n *^ ^^ ^^ ^^ ^* ^^ ^^ ^N ^^ ^N n\ ^p ^^ '^ ^p ^p ^p */ 1 */ ' * '* ~ outportb(conreg,cmnd); 1 */ /*end while*/ } } (fm load reg) and arms counter /* loads /*end chgangle*/ /* Initialize sets up the Quartz card PWMS allows the card to generate the up various other functions the purpose of the archytas it mode to operate in out of all which 5 counters, that are not also sets j used for */ initialize^) ! cmnd,i; int printf("start of process\n"); cmnd=255; /* outportb(conreg,cmnd); cmnd=23; /* cmnd = 65; 0001 0111b select master mode register /* 176 outportb(datreg,cmnd); /* /* */ board functions = 23 /* */ 1111 1111b /* resets all outportb(conreg,cmnd); cmnd = 176; = 255 = */ */ 1011 0000b */ low byte: FOUT source 65 = 0100 0001b is */ Fl */ /* high byte: binary division, outportb(datreg,cmnd); disable increment, 8-bit bus width, FOUT MODE j 'J' | on, divide by */ 1 | cmnd=249; /* outportb(conreg,cmnd); for (i 249 = */ 1111 1001b /* disable prefetch for write operations */ = l;i< =5;i++) { cmnd = i; = 0000 0001b 0000 0101b outportb(conreg,cmnd); /^select ctr mode reg of group 1 thru 5 */ /* 98 =0110 0010b cmnd=98; outportb(datreg,cmnd); /* low byte: disable special gate, reload from load or hold, /* 1 to 5 count repetitively, binary count, count down, 63 to */ */ TC cmnd=27; */ toggled =0001 27 1011b outportb(datreg,cmnd); /* high byte: no gating for counter count on falling edge, */ count source Fl /* */ thru 5 1 } for (i=25;i<=29;i++) { cmnd = i; 25 /* outportb(conreg,cmnd); to 0001 1001b to 0001 1101b */ /* load hold registers for refresh rate cmnd=0; = 0000 0000b /* outportb(datreg,cmnd); /* 31 outportb(datreg,cmnd); = */ */ low byte into hold register 0001 1111b /* load cmnd=31; /* = 29 */ */ /* load high byte into hold register combined lo & hi: 7936 gives refresh */ rate */ } for (i=9;i<=13;i++) { cmnd = i; = 0000 1001b /* 9 to 13 110 /* outportb(datreg,cmnd); cmnd=5; /* load /* */ 5 = = 0110 */ */ 1110b low byte into load register 0000 0101b */ */ */ /* load high byte into load register outportb(datreg,cmnd); /* 0000 1101b /* select load register for pulse width outportb(conreg,cmnd); cmnd = 110; to combined lo & hi: 37430 gives pulse width */ } for (i=233;i<=237;i++) /* { cmnd = i; 233 = 1110 1001b /* 237 = 1110 1101b outportb(conreg,cmnd); */ */ /* set toggle high for counters 1 thru 5 */ } cmnd=127; outportb(conreg,cmnd); /* = 0111 1111b load and arm counters /* 127 */ 1 thru 5 printf("COMPLETED INITIALIZATION OF SERVOSW); } 64 */ 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 C 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 a 10ms interrupt to trigger conversion. Once the interrupt is received the mode on the CIO-AD16jr card is changed converted. software triggered then three channels are to Once converted the status register allow further interrupts, and the mode is is reset to 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 sensor, throttle and new commanded roll rate roll-rate, then outputing some value to the control vanes to change the vane position. */ #include<dos.h> ^include < stdio.h > int datreg int conreg = 544; = 545; int basaddr=768; basepll=769; int mux=770; int statreg=776; int intcont = 777; int pclock = 778; int */ QUARTZ CARD base address */ /* QUARTZ CARD base address +1 */ /* A/D CARD base address */ /* A/D CARD base address + */ /* A/D CARD base address + 2 */ /* A/D CARD base address +8 */ /* A/D CARD base address +9 */ /* A/D CARD base address + 10 /* 1 65 int inrange=779; cntrl=781; int cntr2 int /* /* A/D CARD base address + 1 A/D CARD base address + 13 A/D CARD base address +14 A/D CARD base address +15 int = 782; cntrcon = 783; int lookup[70], angle, newangle, throttle, nthrottle; /* /* /* */ */ */ */ GLOBALS declared as integers */ main() { initialize(); setup(); sampleO; } /* This section (initializeQ) initialize() /* is similar to INITIALIZES Appendix A QUARTZ CARD */ */ { int cmnd,i, angle; printf("start of processW); cmnd = 255; outportb(conreg,cmnd); /*reset all board functions*/ cmnd=23; outportb(conreg,cmnd); /^select master mode register*/ cmnd = 176; outportb(datreg,cmnd); /*low byte enables fout*/ cmnd=65; outportb(datreg,cmnd); cmnd = 249; outportb(conreg,cmnd); for (i = l;i< =5;i++) { cmnd = i; /*select group 1*/ 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); } for (i=25;i<=30;i++) ! cmnd = i; /*load the hold register for refresh rate*/ outportb(conreg , cm nd) cmnd = 0; outportb(datreg,cmnd); cmnd = 10; outportb(datreg,cmnd); } for (i=9;i<=13;i++) { cmnd=i; /^select load register for pulse width*/ outportb(conreg,cmnd); cmnd=103; outportb (datreg /"'load , low byte into load register*/ cm nd) cmnd = 7; outportb (datreg cmnd) , ! for (i=233;i<=237;i++) { cmnd=i; outportb(conreg,cmnd); } cmnd = 127; /*load and arm counter 1*/ outportb(conreg,cmnd); for (i=9;i<=13;i++) { cmnd=i; /^select load register for pulse width*/ outportb(conreg,cmnd); cmnd = 110; /*load low byte into load register*/ outportb(datreg,cmnd); cmnd = 5; outportb(datreg,cmnd); } 67 for (i=233;i<=237;i++) ! cmnd = i; outportb(conreg cmnd) , } cmnd = /*load and 127; arm counter 1*/ outportb(conreg,cmnd); for (i=l;i< =70;i++) lookup[i]=50 + i; printf("COMPLETED INITIALIZATION OF SERVOSW); CIO-AD16jr card to provide a 10ms out of counter 2 out. The square wave frequency is set up by and 2. The card is set up the values loaded in counter Setup initializes the 1 to sample chanels 0-3. /* setup() INITIALIZES A/D CARD */ { int cmnd; cmnd = 32; /* declare /* outportb(mux,cmnd); cmnd = 2; as integer */ = 0010 0000b */ set the mux to read channels 32 /* /* cmnd 2 outportb(intcont,cmnd); /*set = 0000 0010b up pacer clock 0-2 */ */ for clock driven sampling */ cmnd=5; /*5 = 0000 0101b*/ outportb(inrange,cmnd); /*set up for correct input and type of voltage */ /*sets up 10 ms square wave out of counter 2*/ /*FM DATA SHEET: SC-01, RW-11, M-011, BCD-0 - */ outportb(cntrcon,cmnd); /*CTR 1, READ/WR LSBYTE 1ST, MODE 3, cmnd = 118; 68 BINARY cmnd = 100; */ /*100 IN LOWER BYTE up counter 1*/ set outportb(cntrl ,cmnd); cmnd=0; IN /* UPPER BYTE set up counter 1*/ outportb(cntrl ,cmnd); cmnd = 182; /* FM DATA SHEET: SC-10, RW-11, M-011, BCD-0 - */ outportb(cntrcon,cmnd); /*CTR 2, READ/WR LSBYTE BINARY cmnd = 100; 1ST, MODE */ /*100 IN LOWER BYTE for counter 2*/ outportb(cntr2,cmnd); cmnd=0; /*0 IN UPPER BYTE for counter 2*/ outportb(cntr2,cmnd); printf("COMPLETED CARD INITIALIZATION\n M ); } /* Sample does interupt is the work of checking the interupt, once the found the conversion process is changed to software driven to sample the three desired channels, each of these later. Once is all assembled into a 12-bit word to be used channels are sampled the interrupt is cleared and the trigger is changed mode. This procedure allows the a joystick then converted to a to external triggered throttle to PWMS to be input from change the position */ of a servo attached to channel 5 of the Quartz card /* sample() EXERCISES A/D CARD */ { x,cmnd,lsb,lsbl,lsb2,lsb3,sreg,turnangle; int x=l; /* forces continuous loop*/ while (x= = l) { sreg= inportb(statreg); /*read status reg to check interrupt bit */ sreg= sreg&16; if (sreg= = 16) /* 'and' with 16 to get only 5th bit info */ /* 5th bit is interrupt bit- if high, external pulse has been recvd, 69 3, i.e. */ ready to get data { cmnd = 32; /* outportb(mux,cmnd); = 0010 0000b set the mux to read 32 /* */ channels 0-2 */ cmnd = 0; outportb(intcont,cmnd); outportb(basaddr,cmnd); lsb = inportb(basaddr); /^SOFTWARE TRIGGERED A/D ONLY */ /"IMMEDIATE A/D CONVERSION */ /*READ LOW BYTE, MSB-8 TO LSB + CHANNEL*/ lsbl = inportb(basepll); /*READ HIGH BYTE, MSB TO MSB-7*/ /*ROLL LSBYTE RIGHT 4 BITS*/ lsb = lsb > > 4; /*ROLL MSBYTE LEFT 4 BITS */ lsbl = lsbl < < 4; /* 'OR' TO GET 12 BIT INFO*/ lsbl = lsbl lsb; cmnd = 0; outportb(basaddr,cmnd); ^IMMEDIATE A/D CONVERSION*/ lsb = inportb(basaddr); /*READ LOW BYTE, MSB-8 TO LSB + CHANNEL */ lsb2 = inportb(basepll); /*READ HIGH BYTE, MSB TO MSB-7*/ lsb = lsb > > 4; /*ROLL LSBYTE RIGHT 4 BITS*/ /*ROLL MSBYTE LEFT 4 BITS*/ lsb2 = lsb2 < < 4; lsb2 = lsb2 /*'OR' TO GET 12 BIT INFO*/ lsb; | J cmnd=0; outportb(basaddr,cmnd); lsb lsb3 lsb lsb3 lsb3 ^IMMEDIATE A/D CONVERSION*/ /*READ LOW BYTE, MSB-8 TO LSB = inportb(basaddr); = = = = + CHANNEL */ inportb(basepll); /*READ HIGH BYTE, MSB TO MSB-7*/ lsb > > 4; /*ROLL LSBYTE RIGHT 4 BITS*/ lsb3 < < 4; /*ROLL MSBYTE LEFT 4 BITS*/ lsb3 lsb; /*'OR' TO GET 12 BIT INFO*/ ! cmnd = 2; outportb(intcont,cmnd); /*RETURN TO PACER CLOCK DRIVEN SAMPLING cmnd=inportb(statreg); */ /*read status register, then write back outportb(statreg,cmnd); /*to it same */ #- causes reset of flip-flop*/ /* so that interrupt bit throttle = (int)((lsb2-27 1 4) * . 1 is 27 + 50) 70 set to 0*/ /* calculate throttle #*/ /* call function chgangle() */ chgangle(); nthrottle = throttle; } } } /* Chgangle is same the /* chgangleO as described in Appendix A EXERCISES QUARTZ CARD { int i,hibyte,lobyte, angle, cmnd, vane; angle = (( 1 900/206) *newangle + 600) = (angle/256); loby te = (angle-hiby te*256) hibyte cmnd =207; outportb(conreg,cmnd); for (i = 9; i <= 12;i++) { outportb(conreg , i) outportb(datreg,lobyte); outportb(datreg, hibyte); } = 233;i < = 236;i++) cmnd = lll; for (i outportb(conreg,i); outportb(conreg,cmnd); 71 */ */ cmnd = 208; outportb(conreg,cmnd); = (( 900/206) *nthrottle + 600) hibyte = (angle/256); lobyte = (angle-hibyte*256); cmnd = 13; angle 1 outportb(conreg,cmnd); outportb(datreg loby te) , outportb(datreg hiby te) , cmnd = 237; outportb(conreg,cmnd); cmnd = 112; outportb(conreg,cmnd); 72 APPENDIX C: SENSOR INFORMATION Figure 29: Roll-Rate sensor (lower), Pitch and 73 Yaw Rate sensor (upper) C5 J" 8 -4-1 ::i o s N Q >0 -t < 5 § J k to u VTvr> 3- $3§ ^8 (\i o s ^ *a!2 ° !0 JO >-' 1 ex! 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O S 3 s — o s 3 U IM a r- o — '- _ « -. -» O - * o C S 2 I-. «) « — 3 O _ — M. o -D Oz 2 8 " « » i - 8 O 5 * 1 o — 85 _ . % t sirs; ! 3 2 : 5 ! i z - « * s - S S 2 S s * Q - c s s o o •f 7 86 Figure 31: 3-Axis Accelerometer 87 QA-7QO Technical Data r t ' ' O Output Range -30g 8mg max Jias Bias Thermal Coefficient 70..g Current Scale Factor 1 Scale Factor Thermal Coefficient 200 3mA C max g 48^g : g Resolution Threshold 0-10 Hz Frequency Response =0 C Storage Temperature -65 r to -125 : C C : Overran ge Limit Limit -95 to lOOg peak 250g peak. 6 msec, Sine Vibration Limit max half sine 25g peak. 50 to 2000 Hz PHYSICAL Vg max Weight 50 grams max 1°'o max Case Stainless Steel 10-100 Hz =4% max 100-300 Hz =5°/b Ratio ; Shock < 7mrad Input Axis Misalignment -55 Static Acceleration nom ppm 3 C max Linearity Error Damping C Operating Temperature For Specified Performance Material MOUNTING max 3 or 4 Point Mounting Adapters 3 to 0.8 Available Upon Request ELECTRICAL = 13 VDC Input Voltage 20mA Quiescent Current max Isolation, case to all to 10 pins =18 VDC per supply megohms at Temperature Sensor Output* 50 VDC lMa/°K •13 TO -11 VtX 'Temperature Modeling available on request 1„ IS TO -!• VOT »_ POWER AMD SIGNAL GROUN-. LOAD RESISTOR .USER SUPPLIED) 6 SKSHAL OUTPU! ' _. BUILT IN TEST •* iri IQQF W-Ti BUM.T a 27.9mm max f%\ 1 IN TEST , o o ":••/ i O REGULATED OUTPUT | m ax VDC —-O REGULATED -10 25.5mm "VV * y o° T 1 PIN *i OUTPUT *_. FACTORY TEST TEMP SENSOR 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 below Sundstrand Data Control, Printed 88 ir USA 86-209 Inc. 2108 886 APPENDIX D: WIRING SCHEMATIC J" £< aamgni m I ll irarwftjAj ! EC o U \ k ±ff^6£ nn m mn#M9uAi CD i !! iMx> !! ;: J! iir.. El^^E CM 89 ;; u ;; ]: LIST OF REFERENCES "Design of a Robust Auto Pilot for the Archytas Prototype using Linear Quadratic Regulator Synthesis", Masters's Thesis, Naval Postgraduate School, Monterey, CA, December, 1992. 1. Davis, 2. Department of the Navy Operation Requirement Document, "Vertical Takeoff and Landing, Integrated Platform for Extended Reconnaissance (VIPER) Unmanned Air Vehicle (UAV)," 1992. 3. Munson, K., World Unmanned 4. White, J. J. P., E., and Phelan, Ducted Fan," J. Aircraft, Jane's Publishing Co., 1988. R., "Stability Augmentation for a Free Flying paper presented at the AIAA Controls Conference, August 1987. 5. Lloyd, S.D., "An Autopilot Design for the United States Marine Corps' Airborne Remotely Operated Device," Master's Thesis, Naval Postgraduate School, Monterey, 6. Bassett, W. The United G., CA, September, 1987. "A Dynamic Simulation and Feedback Control Scheme for Marine Corps' Airborne Remotely Operated Device," Master's Thesis, Naval Postgraduate School, Monterey, CA, September 1987. States 90 INITIAL DISTRIBUTION LIST No. Copies 1 Defense Technical Information Center Cameron Station Alexandria, Virginia 22304 2. Library, Code 52 Naval Postgraduate School Monterey, California 93943-5002 3. Chairman, Code EC Department of Electrical and Computer Engineering Naval Postgraduate School Monterey, California 93943-5100 4. Mr. Rick J. Foch Naval Research Lab/Code 5712 4555 Overlook Avenue, S.W. Washington, D.C. 20375 5. Commanding Officer Unmanned Aerial Vehicles Joint Project Office Naval Air Systems Command Attn: Walter Dixon PEO(CU)-UD3 Washington, D.C. 5. 20361-1014 Code EC/Ts and Computer Engineering Professor Harold A. Titus, Department of Electrical Naval Postgraduate School Monterey, California 93943-5100 91 6. Professor Richard M. Howard, Code AA/Ho 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 POSr,. • MOKT*BF.' C GAYLORD wiHOO' '1 S * 6-M