Electromagnetic Compatibility Conduction and Radiation Test of Multi Rotor UAV Airborne Equipment

Transcription

1 Electomagnetic Comatibility Conduction and Radiation Test of Multi Roto UAV Aibone Equiment in ZHANG, Xun LI, Xin ZHANG, Huikun PEI Shenzhen Powe Suly Co., Ltd., Shenzhen 51848, China Abstact In aeomagnetic suvey, it is equied to install high-ecision magnetomete in the lane. Howeve, due to the existence of unavoidable feomagnetism and metal mateial on the lane and changes of lane couse and moving attitude, it will inteface with lage and non-detecting objective distubing magnetic field. Theefoe, to ensue the magnetomete can geneate accuate measuement esults, it is equied to eliminate such intefeence. This ae uses the method of geomagnetism intefeence comensation and softwae comensation fo magnetic intefeence comensation. Fistly, this ae analyzes the tye and chaacteistics of distubing magnetic field geneated in aeomagnetic suvey by descibing the fundamental inciles of causing magnetic intefeence and build elevant mathematic model, then the ae design can be imlemented in hadwae. Finally, the ae veifies the effectiveness of oosed method though tests. Keywods - quad-oto; unmanned aeial vehicle; diole; magnetic field exloation; hadwae imlementation I. INTRODUCTION The magnetic osecting efes to one geohysical osecting method eseaching geologic stuctue and distibution ule of mineal esouces by obseving and analyzing the magnetic anomaly caused due to magnetic diffeentiation, such as ock. The magnetic osecting method mainly includes gound magnetic suvey, aeomagnetic suvey, maine geomagnetic suvey and boehole magnetic suvey. These fou methods can be esectively alied to diffeent magnetic suvey envionment. The aeomagnetic suvey efes to the measuement caied out fo all egions assed in flying by installing the high-ecision magnetomete. At the esent, the aeomagnetic suvey holds an imotant osition in magnetic osecting. Due to the existence of magnetic mateial in the lane, the imlementation of aeomagnetic suvey will cause lage distubing magnetic field as esult of diffeent flight couse and flight attitude. Such magnetic field intefeence will affect the measuing esults of highecision magnetomete and has no obvious chaacteistics. Such intefeence will be difficult to be eliminated by filteing. Theefoe, in ode to ensue the accuacy of aeomagnetic suvey esults, the comensation technology must be used to comensate such intefeence fo achieving the goal of elimination and such comensation technology is called as aeomagnetic comensation technology. The ae designs the diole-based magnetic field osection method fo quad-oto unmanned aeial vehicle, caies out hadwae design and imlementation and finally veifies the effectiveness of oosed hadwae design method though test. II. MAGNETIC FIELD PROSPECTION PRINCIPLES OF QUAD-ROTOR UNMANNED AERIAL VEHICLE A. Woking Pinciles of Quad-oto Unmanned Aeial Vehicle The taditional helicote contols its flight diection by changing the oelle blade deflection, but the quad-oto unmanned aeial vehicle contols its flight diection by changing the otation seed of fou oelles. The aow diection in the following figue is assumed as fowad moving diection of unmanned aeial vehicle. Fig. 1 indicates the oelle otation mode in vetical ascent of unmanned aeial vehicle. The otation seed of fou oelles should be simultaneously inceased to geneate uwad lift foce to fuselage and make the unmanned aeial vehicle ascend uwads in vetical diection. When the quadoto unmanned aeial vehicle descends, the otation seed of fou oelles should be simultaneously deceased. Figue 1. Rotation mode of oelle in ascent DOI 1.51/ IJSSST.a ISSN: x online, int

2 field is equivalent to static magnetic field and the comutational fomula of magnetic field is: ( n) n (4) 4 It assumes that one magnetic diole is in oigin of coodinates. Its magnetic diole moment is denoted as. Set as vecto quantity of thee-dimensional sace ointing to senso osition, thus the magnetic induction intensity in can be exessed as: ( n) n 4 (5) Figue 2. Rotation mode of oelle when hoizontally olling towads the ight Fig. 2 indicates the oelle otation mode when the unmanned aeial vehicle olls towads the ight. Incease the otation seed of oelle 2, decease the otation seed of oelle 4 and kee the oelle 1 and 4 in the same otation seed. Make the evese twisting foce sum of fou oelles geneated to unmanned aeial vehicle tun into zeo and in this way the unmanned aeial vehicle can geneate hoizontal olling motion. If the unmanned aeial vehicle is equied to geneate itching motion, simultaneous make the evese twisting foce sum of fou oelles geneated to unmanned aeial vehicle tun into zeo.. Diole Localization Foundation The AC magnetic diole is a small cicula cuent with adius of a, the eimete of cicula ing is much less than wave length and the time-hamonic cuent of cicula ing is same with hase osition in all asects. The magnetic diole is the basic adiating element, also known as magnetic shot diole. It can be known fom the liteatue that when in the egion close to magnetic diole, as is vey small ( 1, 2 ), the nea-field egion is aoximate to: IS H cos (1) 2 H IS sin (2) 4 1 ( n) n The above fomula is equivalent to H, 4 whee I efes to cuent value, S efes to cicula ing aceage of magnetic diole, IS and n efes to unit vecto of diection. In a, the magnetic field distibution fo static magnetic field of magnetic diole is: 4 ( ) [ ] 5 () Whee efes to the distance of senso to magnetic field. The magnetic field in nd is shown in Fig.. it can easily get: ( n) n 4 ( d) Figue. Schematic Diagam of Diffeential Relation of Magnetic Field As the elation of n with is same with nd, the diection of is aallel to and the value is invesely ootional to along with the diection of n. The total diffeential is: 1 (( ) )( ) 4 ( n) n d d n n d 4 On the othe hand, the diffeence of vecto can use magnetic field gadient and can be witten as: x nd xx yx z x nd nd Wok out y x y y y z y z nd xz yz z z n and get: (6) (7) (8) Fom the altenating magnetic field and static magnetic field distibution of magnetic diole, it can be known that when a 2 is satisfied, the altenating magnetic 1 xx yx z x x xy yy z y y xz yz z z z (9) DOI 1.51/ IJSSST.a ISSN: x online, int

3 Signal geneato oosting tansfom e Magnetic diole Receiving coil Switched caacito filteing Peamlification Postamlification Oscillosc oe Figue 4. lock diagam of oveall design III. HARDWARE CIRCUIT DESIGN A. Oveall Design The hadwae cicuit is divided into adiating otion and ecetion amlification otion of magnetic diole. The block diagam of oveall design is shown in Fig. 4. The magnetic diole of adiating otion is esistive, the diect cuent esistance R is equal to 14Ω ( R 14) and the inductance is shown in Table 1 with change of fequency. TALE 1. SHEET OF CHANGE OF MAGNETIC DIPOLE INDUCTANCE VALUE Fequency (khz) 1 1 Inductance (mh) When the fequency is about 1 khz, the inductive eactance value of magnetic diole can each at seveal decades, even hunded k. As the signal geneato is adoted to ovide the cicuit, and the signal geneato is voltage tye outut, the cuent will be vey small if the diect outut is adoted. Theefoe, the measues should be taken to incease voltage o decease imedance to incease cuent.. Pe-amlification Potion The function of e-amlification is to incease signal to noise atio; the amlifie must have low noise. The amlifie used fo INA16 and manufactued by TI Comany should be adoted. Such amlifie has low noise and low temeatue excusion and noise level lnv Hz. Such amlifie can adjust times of amlification only by changing one extenal esisto. The cicuit connection is shown in Fig. 5. inveted inut teminal is gounded though R4 4.7k to ovide inut bias cuent fo the amlifie and make it can nomally amlify. C1 and C2 ae decouling caacito. The cicuit is sensitive to noise, so the devices selected have low noise. The esistance is metal film esistance and the caacitance is low-noise C caacitance. As inut esistance of INA16 is vey high (about 6M ), the imedance matching is not equied to conside. C. Filte Design The filte commonly used includes RC active filte, LC filte, and ceamic filte and switched caacito filte. The fist two filtes have oo stability and its chaacteistic fequency cannot be easily adjusted. The ceamic filte has good stability, but its fequency cannot be adjusted. The switched caacito filte has good stability, and its fequency and its chaacteistic fequency can be adjusted by changing clock, but it is equied to additionally incease clock fequency. Finally, it is detemined to adot switched caacito filte and LTC16 to fom band-ass filte. The cicuit connection is vey easy; the ass-band gain and Q value can be changed only by thee esistos. The eiheal cicuit can effectively educe noise. The cicuit is shown in Fig. 6. Figue 5. Wiing diagam of e-amlification INA16 In Fig. 5, the coil signal is inut fom teminal 4 and 5. The amlifie is oweed u by 15V. The function of R1, L1, R2 and L2 is to event the outut esistance less than self-oscillation caused by 1 signal amlification. The Figue 6. Filte design D. Post-amlifie Design The signal fequency afte filteing has simle comosition, but the value of amlitude is lowe and equied to be futhe amlified. The in-hase ootion is R1 adoted to amlify cicuit G 1. The amlifie adots R14 OP27 with highe band width. The cicuit is shown in Fig. 7. DOI 1.51/ IJSSST.a ISSN: x online, int

4 Tansvese magnetic field of lane (unit: nt) Longitudinal magnetic field of lane (unit: nt) Figue 7. Post-amlifie design IV. EXPERIMENTAL ANALYSIS The feedback cicuit diagam in this test is shown in Fig. 8. The Lalace tansfom of cuent flowing though 1 1 feedback coil is I() s V()( s sc1 ) R srr 1 2C. The tansfe 2 function of feedback netwok is: H() s I() s 1 1 sc1 (1) V() s R srr 1 2C2 Afte eckoning in intenal esistance R c of feedback coil, the tansfe function of feedback netwok is: Vetical magnetic field of lane (unit: nt) (a) Flying towads east Tansvese magnetic field of lane (unit: nt) s 2s H() s ks s2 (11) Longitudinal magnetic field of lane (unit: nt) Vetical magnetic field of lane (unit: nt) Figue 8. Feedback cicuit Assume that osition fo comensation flying is in Changchun, the geomagnetic field is T 54189nT and the o geomagnetic inclination is 6 6, set the itching flying of lane as standad sine maneuveing and the swing flying as standad cosine maneuveing. Cay out simulated comensation flying and can get the following data (atial), as shown in Fig. 9: Use the comensation facto obtained to make magnetic field comensation and comae with the tue value to judge whethe the comensation algoithm is feasible and whethe the comensation effects each standads. Afte using matlab to get each comensation facto, the thee comonents T x, T y, T z of geomagnetic field comensated in lane coodinates can be calculated. Then accoding to the cuent flight attitude, use the coesonding cosine fomula, the geomagnetic field T can be woked out. (b) Flying towads west Figue 9. Size of magnetic field It can be seen fom Fig. 9 that the geomagnetic field on thee coodinate comonents in lane coodinates afte comensation is not comletely sueosed with the actual geomagnetic field, but it has basically eached the comensation standads. Theefoe, it is oved that such magnetic field insection method is feasible. V. CONCLUSIONS This ae uts fowad an aeomagnetic measuement method based on unmanned aeial vehicle, designs magnetic DOI 1.51/ IJSSST.a ISSN: x online, int

5 field and its sace gadient senso and uts fowad the method of detecting magnetic comonent by using thee coodinate axes in the lane coodinates on the basis of oety of lane intefeence. Afte assing the feasibility test, such aeomagnetic measuement method can be alied into the actual flying of lane. If the moe accuate comute is used, it can not only incease the accuacy of such method, but also incease the seed of numeic calculation. Although the final esults in this ae each the feasibility standads, thee still have many deficiencies existed. To meet the highe accuacy equiements, such method is equied to be continuously imoved to achieve the exected goal. REFERENCES [1] Small J, Davidson F, Gacia C. Method and system fo inflight efueling of unmanned aeial vehicles: US, US85686[P]. (211). [2] Shen Y, Lu J, Chio T H. Robets balun based diole design fo tetheed unmanned aeial vehicles[c]// IEEE Intenational Symosium on Antennas and Poagation & Usnc/usi National Radio Science Meeting. IEEE, (215). [] Wu, W., Li, H., Su, T., Liu, H., & Lv, Z. (216). GPU-acceleated SPH fluids suface econstuction using two-level satial unifom gids. The Visual Comute, [4] Gu, W., Lv, Z., & Hao, M. (215). Change detection method fo emote sensing images based on an imoved Makov andom field. Multimedia Tools and Alications, [5] Li, X., Lv, Z., Wang, W., Zhang,., Hu, J., Yin, L., & Feng, S. (216). WebVRGIS based taffic analysis and visualization system. Advances in Engineeing Softwae, 9, 1-8. [6] Shen Y, Lu J, Chio T H. Robets balun based diole design fo tetheed unmanned aeial vehicles[j]. (215): [7] Huq M S, Foeste R, Ahmadi M. Magnetic Chaacteization of Actuatos fo an Unmanned Aeial Vehicle[J]. IEEE/ASME Tansactions on Mechatonics, (214), 2(4): [8] Poiie N, Hautefeuille F, Calastenc C. Low Altitude Themal Suvey by Means of an Automated Unmanned Aeial Vehicle fo the Detection of Achaeological uied Stuctues[J]. Achaeological Posection, (21), 2(4): 7. [9] Lelong C C D, uge P, Jubelin G. Assessment of Unmanned Aeial Vehicles Imagey fo Quantitative Monitoing of Wheat Co in Small Plots[J]. Sensos, (28), 8(5): [1] Immezeel W W, Kaaijenbink P D A, Shea J M. High-esolution monitoing of Himalayan glacie dynamics using unmanned aeial vehicles[j]. Remote Sensing of Envionment, (214), 15(7):9-1. [11] Eelbaum L, Mishne A. Unmanned Aibone Magnetic and VLF Investigations: Effective Geohysical Methodology fo the Nea Futue[J]. Positioning, (211), 2(): [12] Michot D, endeitte Y, Doigny A. Satial and temoal monitoing of soil wate content with an iigated con co cove using electical esistivity tomogahy[j]. Wate Resouces Reseach, (2), 9(5): [1] Ó. Pueyo Anchuela, Juan A P, Casas-Sainz A M. Actual extension of sinkholes: Consideations about geohysical, geomohological, and field insection techniques in uban lanning ojects in the Ebo basin (NE Sain)[J]. Geomohology, (21), 189(1): [14] Tillad S, Dubois J C. Analysis of GPR data: wave oagation velocity detemination[j]. Jounal of Alied Geohysics, (1995), (1 ): [15] Pio D S, Goodman D, Nishimua Y. The study and chaacteization of Emeo Taiano's Villa (Altoiani di Acinazzo, Roma) using high-esolution integated geohysical suveys[j]. Achaeological Posection, (2), 1(1):1-25. [16] Yadav G S, Dasguta A S, Sinha R. Shallow sub-suface statigahy of intefluves infeed fom vetical electic soundings in westen Ganga lains, India[J]. Quatenay Intenational, (21), 227(2): [17] Lv, Z., Li, X., Zhang,., Wang, W., Zhu, Y., Hu, J., & Feng, S. (216). Managing big city infomation based on WebVRGIS. IEEE Access, 4, [18] Li, X., Lv, Z., Hu, J., Zhang,., Yin, L., Zhong, C.,... & Feng, S. (215, May). Taffic management and foecasting system based on d gis. In Cluste, Cloud and Gid Comuting (CCGid), th IEEE/ACM Intenational Symosium on ( ). IEEE. Huang, L., Wu, J., You, F., Lv, Z., & Song, H. (216). Cyclist Social Foce Model at Unsignalized Intesections with Heteogeneous Taffic. IEEE Tansactions on Industial Infomatics [19] onaccoso A, Calvai S, Coltelli M. Magmatic Gas Leakage at Mount Etna (Sicily, Italy): Relationshis with the Volcano-Tectonic Stuctues, the Hydological Patten and the Eutive Activity.[J]. Advances in Cabohydate Chemisty & iochemisty, (24), 4(4): DOI 1.51/ IJSSST.a ISSN: x online, int