Aldo Vargas
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Fuzzy Quadcopter

Started this discussion. Last reply by Allen Babb Jul 28, 2011. 19 Replies

Hi!!How are you??Last year, i design a stabilization system for a 3d helicopter, using neuro-fuzzy systems, it worked great!!!now, im designing a quadcopter, just like everyone else, hehehe, but with…Continue

Tags: sugeno, logic, fuzzy, quad, quadcopter

 

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Allen Babb replied to Aldo Vargas's discussion Fuzzy Quadcopter
"I'm currently running the controller code at 50Hz, with my sensor code running at 110Hz. I'm using the ol' signals rule of thumb to use 2.2 times the desired signal (the same freq as the controller code) for the…"
Jul 28, 2011
Lew Evans replied to Aldo Vargas's discussion Fuzzy Quadcopter
"330Hz, frame rate or update rate ..... just checking. Faster is always better. What is the frame rate coming out of your controller? A faster ESC frame rate may not be worth looking into if it is already significantly faster than your controller."
Jul 28, 2011
Allen Babb replied to Aldo Vargas's discussion Fuzzy Quadcopter
"Hey Aldo, what kind of input membership functions did you use? Trapazoidal, Triangle, or possibly Guassian?"
Jul 28, 2011
Allen Babb replied to Aldo Vargas's discussion Fuzzy Quadcopter
"I'm over in South Texas.   The 330 and 490 Hertz are the frame rates of the PWM signal sent to the ESC's. Hertz (Hz) is a number of "cycles per second" and can be equivalent to "revolutions per second" in…"
Jul 28, 2011
Allen Babb replied to Aldo Vargas's discussion Fuzzy Quadcopter
"Oops! accendentally deleted a reply I didn't want to.   Original reply was to Lew... I did tests on a BP hobbies 18A ESC and came out with a frame rate of 330Hz. I heard that some had achieved a frame rate of 490Hz and I'm considering…"
Jul 28, 2011
Lew Evans replied to Aldo Vargas's discussion Fuzzy Quadcopter
"By 330Hz and 490Hz , what do you mean? Allen, where are you? I am in Sydney Australia."
Jul 28, 2011
Lew Evans replied to Aldo Vargas's discussion Fuzzy Quadcopter
"Are your ESC's anything special? I saw a video on youtube with a quad where the guy re-programed the esc's to have really fast responses. This helped with stability."
Jul 28, 2011
Allen Babb replied to Aldo Vargas's discussion Fuzzy Quadcopter
"The original MiniDragon board that I was using needed an input of 9 to 12V because its onboard regulator... and there wasn't any good way of bypassing it, so I just used a seperate 9V regulator to pass it to it.   When the new MicroDragon…"
Jul 28, 2011
Lew Evans replied to Aldo Vargas's discussion Fuzzy Quadcopter
"Why not use the BEC on your speed controller? Your board needs a 5V VCC line so that should be a good fit. If your going to add FPV later, just get a 5V camera and transmitter and you can run the whole lot from your BEC. eg. TURNIGY Plush 12amp (2A…"
Jul 28, 2011
Allen Babb replied to Aldo Vargas's discussion Fuzzy Quadcopter
"I'm using the MicroDragon board from EVBplus.com. It's just a pinout board for the Freescale MC9S12DG256 along with a crystal and other basic components to get it running. It doesn't have a voltage regulator... which is a good thing…"
Jul 28, 2011
Allen Babb replied to Aldo Vargas's discussion Fuzzy Quadcopter
"Glad you got it to work! Any wobbles?"
Jul 28, 2011
Lew Evans replied to Aldo Vargas's discussion Fuzzy Quadcopter
"Hi Aldo, That's fantastic! Can't wait to see the video. Lew  "
Jul 27, 2011
Lew Evans replied to Aldo Vargas's discussion Fuzzy Quadcopter
"Hi Allen, That all sounds right. I am sure that a 5x5 matrix will do the trick. Looks like Aldo has it sorted. May I ask what board you are using? I will be starting with a KK multicopter board (hobbyking version).    "
Jul 27, 2011
Aldo Vargas replied to Aldo Vargas's discussion Fuzzy Quadcopter
"Hi!! thanks for the replies!! my stabilization system now works!! i add the angular rate to the equation... i have now a sugeno fuzzy system, with 2 inputs and 2 outputs, the inputs are the angle and the angular rate, with 25 rules... ill post a…"
Jul 27, 2011
Allen Babb replied to Aldo Vargas's discussion Fuzzy Quadcopter
"Hey Lew,   Had a successful test run just a few minutes ago, the new deadweights moved the center of mass close enough to the test rig's pivot so that the controller can work now. Had a few moments where the thing got itself nice and…"
Jul 27, 2011
Lew Evans replied to Aldo Vargas's discussion Fuzzy Quadcopter
"Hi Allen, Do you want to post some code or pseudo code? Lew"
Jul 27, 2011

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ESC and LiPo problems, fuzzy control stopped...

Posted on March 4, 2010 at 5:04pm 3 Comments

Hi!!


How are you??


New problems!!!! big problems!!!!


In our last neural network training, we had a accident, i crashed the helicopter, hehehehe


So, we rebuild it, we just change the blades, and the blades holders, that was all the damage, lucky us...


But with the new blades installed, we had to track them, so we try to do it, failure after failure, so we stopped,…
Continue

Neurofuzzy helicopter problems

Posted on February 17, 2010 at 9:22am 14 Comments

In my last post, i had vibration issues, remember??


So, what did i do to resolve that??


- First, we design a better place for the sensor to be, it uses elastic bands, that improve a lot the readings, but we still had glitches on the angles.


- We change from DCM to Kalman, because the performance of Kalman was better, and faster.


- We use a second filter, we implement a simple digital…
Continue

Stabilization of RC Helicopter with NeuroFuzzy networks

Posted on January 21, 2010 at 10:30am 7 Comments

Hi everybody!!!



I'm making a stabilization system for a helicopter, hehehe, another one...



First of all i want to show my hardware:



- ArtTech Falcon 3D



Rotor Diameter: 24.8"

Tail Rotor Diameter: 5.98"

Weight: 19.5 oz.

Length: 26.4"

Servos: 4 9g servos

Transmitter: 6 channel 72MHz

Receiver: 6 channel dual conversion

Battery: 3S 1300mAhr 10C LiPo

Motor: Brushless B20/10T

ESC: 18A Brushless…



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