Disturbance Correction Final Design Review Team 5 February 25, 2003 By:Tyler Ferman Matt DiLeo Jack...
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Transcript of Disturbance Correction Final Design Review Team 5 February 25, 2003 By:Tyler Ferman Matt DiLeo Jack...
Disturbance Correction
Final Design Review
Team 5
February 25, 2003
By: Tyler FermanMatt DiLeoJack Damerji
Laser Deflection System Project Overview
User supplies changing input. Goal is to compensate for measured input
disturbance. Controller angles mirror to performs disturbance
correction. Objectives
Develop accurate controller in order to keep a laser communication link.
Develop controller to correct for all disturbance.
Approach Input
Measure the laser pen pan/tilt angles. Measure the mirror pan/tilt angles.
Controller Determination of desired mirror pan/tilt angles. Develop controller to achieve performance
specifications. Output
Specified target (dot on wall)
Specifications: Positioning
Specifications Cont.Input range of motion: 43o
Mirror: 5’’ dia @ 55g (+ 45g mount) Output Range of motion: 26o Controller Speed: >6rad/s
Overshoot Error: < 1%Target: +-0.4” Encoder Gearing: 1:4 (4X accuracy)
Math Model (Angle Calc.) Pan/Tilt & Mirror Design
Mass & Inertia Calc.
Motor & Gear Selection
Simulation & Controller Design
System Analysis
Input Pan/Tilt Considerations
Order parts
Building Input Pan/Tilt
Input Pan/Tilt &DSP
Input Testing
Build Control Pan/Tilt
DSP Control of Pan/Tilt
Testing and Fine Tuning
Develop Full Interaction
Testing, Tolerance Analysis & Fine Tuning
2/19
2/26
4/1
4/9
Math Model (Angle calc.)
Approach: Direct:
Solve by equating desired reflected unit vector with received reflected unit vector
Solve using parametric equations Indirect:
Solve using Coordinate Transformations Solve using fminsearch & foreword equation
Find foreword Equation (Maple)
Solve For Mirror Angles (Maple)
Create Math Model (MATLAB)
Find foreword Equation (Maple)
Educated Angles Guess (MATLAB)
Iterate Until Guess Converges
Math Model (Angle Calc.) Pan/Tilt & Mirror Design
Mass & Inertia Calc.
Motor & Gear Selection
Simulation & Controller Design
System Analysis
Input Pan/Tilt Considerations
Order parts
Building Input Pan/Tilt
Input Pan/Tilt &DSP
Input Testing
Build Control Pan/Tilt
DSP Control of Pan/Tilt
Testing and Fine Tuning
Develop Full Interaction
Testing, Tolerance Analysis & Fine Tuning
2/19
2/26
4/1
4/9
Motor & Gears Selection
• Center Of Gravity and Inertia were obtained from Solid Work Models
• Simulate a number of motors Examples:
Tested number of GM8000 series Needed more: Torque & Speed Motor Chosen:Pittman GM9234S016Gear Ratio: 4:1
Math Model (Angle Calc.) Pan/Tilt & Mirror Design
Mass & Inertia Calc.
Motor & Gear Selection
Simulation & Controller Design
System Analysis
Input Pan/Tilt Considerations
Order parts
Building Input Pan/Tilt
Input Pan/Tilt &DSP
Input Testing
Build Control Pan/Tilt
DSP Control of Pan/Tilt
Testing and Fine Tuning
Develop Full Interaction
Testing, Tolerance Analysis & Fine Tuning
2/19
2/26
4/1
4/9
Input Considerations
Input trajectory accuracy is critical S1 Optical Shaft Encoder
1024 CPR 3600/1024 = .350 per tick S2 Optical Shaft Encoder
2048 CPR 3600/2048 = .1760 per tick Geared S1 Encoder
1024*4 CPR 3600/4096 = .090 per tick
Error Induced
Output error due to input measurement accuracy 0.10 input
error ~0.0745’’ output error
>> [r,u,p]=find_reflected([0,-2.5,6], [0,.178543307087,-1], [0,0,1]);>> [x,y,z]=vec_plane_int(p,u,[0,0,-1],[0,0,36])x = 0y = 4.9988z = 36>> [r2,u2,p2]=find_reflected([0,-2.5,6], [0,.180344836659,-1], [0,0,1]);>> [x2,y2,z2]=vec_plane_int(p2,u2,[0,0,-1],[0,0,36])x2 = 0y2 = 5.0745z2 = 36
Ordering Parts
Project Budget List of Parts List of Materials Machine shop service
List of Parts
Quantity Price ($)
Total ($)
item source
1 4.25 4.25 5” diameter glass mirror Walmart
1 4.50 4.50 Laser pen Radio Shack
1 97.59 97.59 Pan motor, Pittman GM9234S016 Clickautomation
1 97.59 97.59 Tilt motor, Pittman GM9234S016 Clickautomation
1 25.74 25.74 Pan gear set sdp-si.com/eStore/
1 25.74 25.74 Tilt gear set sdp-si.com/eStore/
1 2.92 2.92 Pan belt sdp-si.com/eStore/
1 2.92 2.92 Tilt belt sdp-si.com/eStore/
1 38.55 38.55 Input Pan/tilt encoder gear set sdp-si.com/eStore/
1 4 4 …mounting hardware sdp-si.com/eStore/
1 38.55 38.55 Output pan/tilt encode gear set sdp-si.com/eStore/
1 4 4 …mounting hardware sdp-si.com/eStore/
1 20.00 20.00 Misc electrical components Trojan electronics
1 2.00 2.00 Mirror mounting hardware Home depo
4 0.89 3.56 6-32 x 2.5” hex head bolts, steel Home depo
371.91 total
List of Materials
Quantity Price Material dimensions item Source
1 0.75 Al 1/8” x 1/2” x 3” Mirror mount Home Depo
1 0.75 Al 3/8” x 6” bar stock Tilt shaft Home Depo
2 1.50 Al 3/8” x 1 1/4” x 2” Tilt spacers RPI machine shop
1 2.50 Al 3/8” x 1 1/4“ x 6” Tilt base RPI machine shop
5.50 total
Machine Shop Service
Quantity rate # hours Total ($)
item source
1 $35 / hr .25 8.75 Mirror mount RPI machine shop
1 $35 / hr .5 17.50 Tilt shaft RPI machine shop
2 $35 / hr .75 26.25 Tilt spacers RPI machine shop
1 $35 / hr 1.0 35 Tilt base RPI machine shop
87.50 total
Total Cost
item Cost ($)
List of parts 371.91
List of materials 5.50
Machine shop service 87.50
total $ 464.91
Project Budget Summary
DSPI/O
Trajectory Calculator
Mirror PositionCalculator
Angle Saturation
Controller
Torque Motor Control
State Estimator
Θin1
Desired States
(Θ1, Θ2, Θ1dot, Θ2dot)
Estimated States (Θ1, Θ2, Θ1dot, Θ2dot)
Voltage for Motors
Torque
State EstimatorΘin2
Θ1
Θ2
Math Model (Angle Calc.) Pan/Tilt & Mirror Design
Mass & Inertia Calc.
Motor & Gear Selection
Simulation & Controller Design
System Analysis
Input Pan/Tilt Considerations
Order parts
Building Input Pan/Tilt
Input Pan/Tilt &DSP
Input Testing
Build Control Pan/Tilt
DSP Control of Pan/Tilt
Testing and Fine Tuning
Develop Full Interaction
Testing, Tolerance Analysis & Fine Tuning
2/19
2/26
4/1
4/9