Laser deflection system disturbance correction
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Laser Deflection System: Disturbance Correction PowerPoint PPT Presentation


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Laser Deflection System: Disturbance Correction. Final Presentation Team 5 April 23, 2003 By: Tyler Ferman Matt DiLeo Jack Damerji. Laser Disturbance Correction. Goals: movie - movingpantilt.mpeg Correct for a measurable input disturbance.

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Laser Deflection System: Disturbance Correction

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Laser Deflection System:Disturbance Correction

Final Presentation

Team 5

April 23, 2003

By: Tyler Ferman

Matt DiLeo

Jack Damerji


Laser Disturbance Correction

  • Goals: movie - movingpantilt.mpeg

    • Correct for a measurable input disturbance.

    • Redirect laser to target according to measured disturbance of input trajectory.

  • Objectives

    • Develop accurate controller in order to keep a laser communication link.

    • Develop system to measure input trajectory disturbance.


Original Specifications

  • Input: Laser Pen

    • Range of motion: 53o

    • Location: 5’’ x 6’’ x 0”

    • Assume user input of 0.1 sec to travel across mirror

  • Controller:

    • 5” mirror mounted on center of each axis

    • Range of motion: 35o

    • Settling time: ~0.1s

    • Overshoot: < 1%

  • Output: Point on screen

    • 36” away


Original design Constraints

  • First pan-tilt modified to hold a laser pen.

    • cheap and accurate

    • Narrows input to 2 DOF

  • Second pan-tilt modified to carry a mirror.

  • Challenges

    • Accurately calculating input

    • Positioning

    • Calculation of desired mirror angles

    • Developing fast and accurate controller


Project construction and functional tests

  • Construction: movie - showcase.mpeg

    • Input Pan-Tilt

    • Controller Pan-Tilt

    • Mounting both system on one plate

  • Friction measurements

    • Tilt:Average Viscous Friction: .002Coulomb Friction = 0.18

    • Pan:Average Viscous Friction: .0005Coulomb Friction = 0.08


Controller Design

  • Linearizing System

  • Finding a PID compensator

  • Simulating the compensator on nonlinear system


Controller Design

  • Pan

  • Tilt


Step Response Pan Side


Step Response Tilt Side


Actual Performance Results 1

Hit rate: 100%

Avg pan err: 0.0029

Avg tilt err: 0.0029

movie - target.mpeg


Actual Performance Results 2

Hit rate: 99.6%

Avg pan err:   0.0045

Avg tilt err: 0.49


Actual Performance Results 3

Hit rate: 85.3%

Avg pan err:  0.0044

Avg tilt err: 0.0057


Actual Performance Results 4

Hit rate: 65.8%

Avg pan err:   0.0091

Avg tilt err: 0.0052

movie - crazyfreq.mpeg


Sinusoidal Response Pan side


Sinusoidal Response Tilt side


Comparison of Performance


System Improvement

Max Disturbance without controller

13in on average from each side

VS

  • Max Disturbance with controller

    1in from each side

    Movie: closeup.mpeg


Success and challenges

  • Success: movie - mirrorview.mpeg

    • Robust Controller

    • Accurate calculation for desired angles using math model

    • 1300% improvement of disturbance rejection

    • Quick interaction between input pan-tilt and controller pan-tilt


Success and challenges

  • Challenges:

    • Discrepancy between system model simulation and physical system

    • Initialization of input and mirror angles

    • Quantization Effects:

      • Steady-state error

      • Oscillation due to derivative control

    • Design controller for random input (different speeds/frequencies)


Recommendations

  • Adaptive controller to allow control for random input

  • Calibration system

  • Use Kalman filter to reduce quantization effects

  • Recalculate mass matrix, inertia matrix and friction calculation


Questions


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