Safe landing of medium scale amateur vehicles



A crosswind landing is a landing manoeuvre in which a significant component of the prevailing wind is perpendicular to the runway centerline.
SignificanceAircraft in flight are subject to the direction of the winds in which the aircraft is operating. For example, an aircraft in flight that is pointed directly north along its longitudinal axis will, generally, fly in the that northerly direction. However, if there is a west wind in the air in which the aircraft is flying, then the actual trajectory of the aircraft will be slightly to the east of north. If the aircraft was landing on a northbound runway, it would need to compensate for this easterly component of velocity caused by the west crosswind.
B-52 performing a crab landing having nose pointed toward incoming wind, but undercarriage aligned along the runwayIn situations where a crosswind is present, the aircraft will adopt a yaw orientation with respect to the runway and will drift laterally as it approaches the runway. These pose significant safety issues when safe operation of the undercarriage requires the body and the velocity of the aircraft to be aligned with the runway at touch down. The landing gear on theB-52 included an unusual feature to counteract the problem: all landing gear bogies could be steered, allowing the aircraft to land with the wheels facing the direction of travel even if the nose was not pointed in the same direction.To meet these conflicting requirements, three standard procedures are used for executing a safe landing in a cross wind situation. These landings are called the Crab, De-Crab and Sideslip techniques.

If the crosswind landing is not executed safely, the aircraft may experience wingstrike, where a wing hits the runway. TechniquesThe following guidelines are advised by Boeing for a crosswind landing. These guidelines assume steady wind (no gusting). These winds are measured at 10 m (33 feet) tower height for a runway 45 m (148 feet) in width. Basically, there are 3 landing techniques which may be used to correct for cross winds: De-Crab, Crab, and Sideslip.De-Crab







The objective of this technique is to maintain wings level and the aircraft position near the runway centerline during approach. The nose points into the wind so that the aircraft approaches the runway slightly skewed with respect to the runway centerline (crabbing). This gives the impression of approaching the runway flying sideways, which can be disorienting for the pilot. Position is maintained by balancing the crosswind component, or more accurately the drag force arising from it, with engine thrust. Wings are maintained level throughout the approach. Just before the flare, opposite rudder (downwind rudder) is applied to eliminate the crab, with a simultaneous application of opposite aileron to maintain a wings-level attitude, so that at touch down, the body, velocity vector, and bank angle are all aligned with the runway, and the aircraft is positioned near the center.


The airplane can land using crab only (zero side slip) up to the landing crosswind guideline speeds.
On dry runways, upon touchdown the airplane tracks towards the upwind edge of the runway while de-crabbing to align with the runway. Immediate upwind aileron is needed to ensure the wings remain level while rudder is needed to track center line. The greater the amount of crab at touchdown, the larger the lateral deviation from the point of touchdown. For this reason, touchdown in a crab only condition is not recommended when landing on a dry runway.
On very slippery runways, landing the airplane using crab only reduces drift towards the downwind side of a touchdown, and may reduce pilot workload since the airplane does not have to be de-crabbed before touchdown. However, proper rudder and upwind aileron must be applied after touchdown to ensure directional control is maintained.

This sideslip crosswind technique is to maintain the aircraft's heading aligned with the runway centerline. The initial phase of the approach is flown using the Crab technique to correct for drift. The aircraft heading is adjusted using rudder and ailerons to align with the runway. This places the aircraft at a constant sideslip angle, which its natural stability will tend to correct. Sufficient rudder and aileron must be applied continuously to maintain the sideslip at this value. The dihedral action of the wings has a tendency to cause the aircraft to roll, so aileron must be applied to check the bank angle.
With a slight residual bank angle, a touchdown is typically accomplished with the upwind main wheels touching down just before the downwind wheels. Excessive control must be avoided because over-banking could cause the engine nacelle or outboard wing flap to contact the runway/ground.
In strong crosswind conditions, it is sometimes necessary to combine the crab technique with the sideslip technique.

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PID FEEDBACK CONTROL APPLICATION IN UAV's



hello every body,

Me back again with some information , some quaries for you .

So basically what is PID loop?
It is Proportional, integral, derivative loop for any control situation in any industary ,device ,or any machine that need a precise working and caliberation to perform a very specific and important work in which a small error can lead to a loss and damage and irregularity in the desired output.

Just like if we take a example of a PID loop application in robotic arm which is used in PICK AND PLACE department in an industry.
and it work in autonomous mode.it has to pick a boul filled with hot chemical at 0degree(lets assume its initial position).and has to pour 50 ml of it in another boul placed at 60 degree and at 15 cm height.
so a PID lop must have some input from different sensors ,on which it will work, a microprocessor or CPU which will manipulate the inputs and will generate the desired output.

sensor 1= A digital compas which will give orientation of the arm in XY plane ,
sensor 2= a accelerometer and gyroscope which will give output along the height of the robotic arm .
a touch sensitive device which will sense the height of liquid in the boul .

now we had some specific PID loop terms that are need to be specify here.


Sensing the orientation along the XY plane,height and level of water is analogous to taking a measurement of the process value or process variable (PV).
The desired rotaion angle along XY plane ,along vertical plane and height of chemical in boul is called the setpoint (SP).
The input to the process is called the manipulated variable (MV).
The difference between the PV and the setpoint is the error (e), that quantifies whether the proper action has been taken place or not.

so here is the application of all the specific terms.now is the starting of the PID loop appliaction takes place.

In the very next blog i will discuss the theory and thinking behind the process which take place in controlling the robotic arm .

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working with gps,using XCTU,MAX232,female serial to serial convertor,and atmega16 kit

female to male to usb covertor along with RS232
output of GPS on XCTU




















Hello everybody,
so myself in BRiCS working out with mine GPS Receiver for getting the data on my LCD screen so that i can save the LATITUDE,LONGITUDE,ALTITUDE ,VELOCITY<DAE and TIME in some variable so that i can further use them in my MAIN programme as a INPUT in HAVERSINE formula for finding out the distance(D) and bearing(A) between 2 GPS coordinates.well i am trying out some codes using WINAVR and ECLIPSE on JAVA platform.well i had done a little work in gps,but i am trying mine level best to short out this problem.well need help if any one can,in coding.#include<avr/io.h>
#include<util/delay.h>
#include"lcd_lib.h"
#include<stdio.h>

int main()


{ int ptr=0;
char A[20]="";
char ii;
DDRD=255;
LCDinit();
LCDclr();
USART_Init(9600);
while(1)
{
LCDGotoXY(0,0);
while(ii!='$'){
ii=USART_Receive();
LCDsendChar(ii);
ptr++;
if(ptr>16)
{
break;
}
}
A[0]=USART_Receive();
_delay_ms(100);
A[1]=USART_Receive();
_delay_ms(100);
A[2]=USART_Receive();
_delay_ms(100);
A[3]=USART_Receive();
_delay_ms(100);
A[4]=USART_Receive();
_delay_ms(100);
A[5]=USART_Receive();
_delay_ms(100);
A[6]=USART_Receive();
_delay_ms(100);
A[7]=USART_Receive();
_delay_ms(100);
A[8]=USART_Receive();
_delay_ms(100);
A[9]=USART_Receive();
_delay_ms(100);
LCDstring(A,10);
}
return 0;
}

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MAX232


Ready with mine hand made MAX232,to be added with GPS and serial to USB convertor.So for my project i am ready with a handmade MAX232 circuit.
One more step close to my project but still very far away
Some information regarding MAX232 from its datasheet.
Meet or Exceed TIA/EIA-232-F and ITU
Recommendation V.28
�� Operate With Single 5-V Power Supply
�� Operate Up to 120 kbit/s
�� Two Drivers and Two Receivers
�� ±30-V Input Levels
�� Low Supply Current . . . 8 mA Typical
�� Designed to be Interchangeable With
Maxim MAX232
�� ESD Protection Exceeds JESD 22
– 2000-V Human-Body Model (A114-A)
�� Applications
TIA/EIA-232-F
Battery-Powered Systems
Terminals
Modems
Computers

As RS232 is such a common protocol there is a dedicated IC designed for this purpose of "Level Conversion". This IC is MAX232 from Maxim. By using charge pumps it generates high voltages(12V) and negative voltages(-12V).
Things you needS.NoItemValueQty1MAX232 IC12Capacitors10uF43
14DB9 Female Connector15General Purpose PCB16Some Wires--
and a little bit of soildering practice.

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XCTU


READY WITH GPS DATA IN EXACT FORMAT ON XCTUSo all done with receiving POSITION data on XCTU using MAX232 home made circuit,7805 voltage regulator(I/P>6v,O/P=5v),serial to usb connector,and DB9 male to DB9 female connector.
so what i had done is that i had made a self made MAX232 circuit,using 10 microfarad capacitor instead of 1 and had used exactally 5v supply for gps and max232 IC by using a 7805 voltage regulator.

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GYROSCOPE

gyroscope connected to the ATMEGA16 and LCD for displaying the value


So one more step closer to mine project,well still very far behind.well i am using LY510AH ±100 °/ Second, ±400 °/ Second Analog Yaw-Rate Gyroscope Module for my AMATEUR UAV.



Introduction:LY510AH is a single axis Yaw rate gyroscope module which gives maximum sensing rangeof ±100 degrees per second and ±400 degrees per second. It gives normal and 4 timesamplified Yaw rate output. Board has all the necessary components required for the chip.Board made up of high quality silver plated double sided PCB for giving extra strength to theconnectors. Possible applications of this board includes inertial navigation, GPS navigation,motion tracking, industrial and robotics, pointing devices, remote and game controllers,motion control with user interface etc.
Features 
• Analog Absolute angular-rate output at ±100 °/ sec and ±400 °/ sec
• Two separates outputs(1X and 4X amplified )
• Internally buffered to ensure low output impedance on output signals
• Embedded Self-Test, which allows testing electrical and mechanical parts of the sensor
• High stability over temperature
• High shock and vibration survivability
• High quality silver plated double sided PCB for giving extra strength to the connectorsSpecification
• Supply voltage (Vdd): 2.7V to 3.6V, 5mA
• Sensitivity on the yaw-rate output pin 4xOUTZ (4 times amplified output): 10 mV/degrees/ sec (±100 degree / sec)
• Sensitivity on the yaw-rate output pin OUTZ: 2.5 mV/ degree /sec (±400 degree / sec)
• Steady state position output: OUTZ : 1.23V (±10%)4xOUTZ : 1.23V (±10%)
• Bandwidth: 140Hz.
• Self-Test checking for checking chip functionality
• Power-down option










well i am still working on converting that ADC value into corresponding mv degree /sec value.and after that the next step will be taking the X,Y,Z acelerometer value on LCD and then combining both these value with a algo to get the accurate elivation of the KIT with respect to the earth.

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FINDING OUT THE EFFECT OF WIND VECTOR ON UAV:- How much it effect the movement of uav if neglected on small scale




IntroductionDrag is the resistance to motion of an aircraft flying through the air generated by a combination of pressure and friction. This resistance is overcome by the engines.
Modern civil aircraft are designed to minimise drag in order to reduce the environmental and economic costs of flying. By reducing drag, the amount of power needed from the engines is lessened and as a result the amount of fuel required is also reduced. Less fuel means a lower environmental impact and lower costs for the airline.
Aircraft manufacturers can reduce drag in a number of ways – be it with a subtle change in geometry like adding a winglet or a more substantial change of configuration like changing the shape of the wings or repositioning the engines.The Role of Wind TunnelsWind tunnels play a crucial role in the design of modern, greener aircraft. Improvements to aircraft designs are initially made using computer models. But even the most powerful of today’s computers cannot generate a perfect simulation of the air flowing around a complete aircraft. So when a design is sufficiently advanced, it is tested in a wind tunnel to check that the computer predictions are correct and that the designers have correctly understood what is happening to the air as it flows around the aircraft model.


MY THEORY:-

In mine project when i use to talk about the wind vector i think its a useless thing for mine project.As its a fact that it play a important role in determining the aerodynamical model of the plane through which the consumption of the fuel can be reduced to much extent.

But as far as i am concern regarding mine project,when we are using the pre-prepared aeromodel for our project it is useless to find out the drag force or wind vector that has been applied on the aircraft.Infact finding out the wind vector is also important in determining the inclination of the aeromodel with respect to the earth inertial frame of reference if the wind vector is caliberated with gps output.

But when we have sensors like ACCELEROMETER and GYROSCOPE to determining the inclination of aeromodel with respect to the earth inertial frame than i think we need not to bother much about determining wind vector( Thats an easy approach) using complicated functions

well its what all ii think.well in the next post i had got something to determine the inclination of any inertial frame with respect to earth inertial frame with and without using the KALMAAN filter.

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