Maestro A2100-B Manual de usuario descargar pdf (Pagina 5)

mount it toward the front.

F. Blimp Movement (Motors)

The ability to control our blimp and having smooth pitch

and yaw movement is crucial so the user does not feel they

don’t have good control on the blimp. The system for the

blimp movement was implemented to give us ﬂexibility in

setting speeds and to reduce the components needed to make

our turns.

1) Brushless Motor: We are going to have two brushless

motors running the blimp propulsion. We decided to go

with the Brushless Outrunner 2217-4 motors. The require

li-po batteries and run at 80% efﬁciency. These motors are

connected to a mounting bracket and will be located toward

the front of the system. Since we will be controlling the

speed of the motors to be able to turn we set them on an axel

type system to control the pitch.

2) Axel Servo: The axel servo is simply just a servomotor

controlling the pitch of the prop motors. It is a 180 degree

servo the will go from the motors pointing straight down to

straight up. It is the s3004 model, which is a heavier and

stronger servo.

3) Electronic Speed Controller (ESC): The BP 30 AMP

Brushless Electronic Speed Controller is what we are using

to control the speed of the motors. These speed controllers,

one for each motor, will help with not only the speed of the

system, but the ability to turn the entire blimp as well.

III. DESIGN AND IMPLEMENTATION

In this section, we discuss the features of the blimp using

the components described in the previous section, along with

the ﬁnal integration of the components together. The main

features we bring to the table by integrating these components

together is: the auto-stablization of the camera through the

sensor data, tracking and following system through the camera

system and OpenCV, auto-routing a user deﬁned patrol path

using the GPS and magnetometer, and manual user control

of the blimp movement through the brushless motors and the

servos by commands send out from the computer side GUI.

A. Blimp Control System

The program on the blimp controls the movement of the

servos by the received commands of the transceiver unit.

Table 1 below shows the the commands along with the string

command used to trigger it is. The string command is always

6 characters long and the ﬁrst 3 characters determine which

system the servo is on, so ”mot” for motor control (driving

the blimp), and ”cam” for camera controls (for turning the

camera). The next three numbers denote the angle at which

the servo should turn or increase speed to, which control

line (which servo) to do it to, and the last number is which

direction the servo turns in 1 for positive and 0 negative,

which we denoted while testing the command and can vary

between how the servo is oriented in the structural design.

Command CmdString

Motor Left Turn mot311

Motor Right Turn mot321

Motor Pitch Up mot301

Motor Pitch Down mot300

Camera Left Turn cam310

Camera Right Turn cam311

Camera Pitch Up cam301

Camera Pitch Down cam300

Auto Pilot On auto11

Auto Pilot Off auto22

Table 1: Commands send to blimp for servo movements.

The process for speed control is currently being tested

in two different ways. The ﬁrst way is to set speed control

levels, having 5 different pre-deﬁned setting levels and the

user can pick between the 5 for the throttle. the second

way is to use a accelerate and decelerate button, this would

send commands to decrease or increase the motors certain

increments at each button press and would have more ﬂexible

ranges the blimp can accelerate up to.

The last two commands on the list happen when the user

selects tracking and following or the patrol path on the GUI.

The blimp will no longer take the manual commands for

movements and instead base it off specialized commands.

The commands for the tracking and following has varying

degrees it needs to turn to keep the person in the center of the

screen. but will almost always turn the camera servos instead

of having to rely on the motor controls. For the patrol path,

the blimp will wait to accept 5 or 6 GPS coordinates send

out by the computer GUI. Then it will use the magnetometer

on the blimp to calculate heading using the formula below.

Formula for Degree between two GPS Coordinates

1) Eagle PCB Design: As every project has to have a

PCB design this one was no different. This PCB design was

actually very easy considering almost all of the components

were going to be put on headers. The Eagle design had

only a handful of components including a NRF2401L+

transmitter, a Maestro A9207H1035 GPS Module, Atmega

328 microcontroller and IMU module. Only the GPS and

the microcontroller will actually be soldered onto the board

while the other components will be attached to male headers.

No power will run throughout the board but instead because

there are only 4 devices that need power so a prototyping

perf board will be connected to every device. The PCB

will only be using two layers with very limited and simple

connections. Figure 4 below show the ﬁnal PCB layout of

1 2 3 4 5 6 7 8

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