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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
Laser Deflection System:Disturbance Correction

Final Presentation

Team 5

April 23, 2003

By: Tyler Ferman

Matt DiLeo

Jack Damerji

laser disturbance correction
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
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
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
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: .002 Coulomb Friction = 0.18
        • Pan:Average Viscous Friction: .0005 Coulomb Friction = 0.08
controller design
Controller Design
  • Linearizing System
  • Finding a PID compensator
  • Simulating the compensator on nonlinear system
slide10

Actual Performance Results 1

Hit rate: 100%

Avg pan err: 0.0029

Avg tilt err: 0.0029

movie - target.mpeg

slide11

Actual Performance Results 2

Hit rate: 99.6%

Avg pan err:   0.0045

Avg tilt err: 0.49

slide12

Actual Performance Results 3

Hit rate: 85.3%

Avg pan err:  0.0044

Avg tilt err: 0.0057

slide13

Actual Performance Results 4

Hit rate: 65.8%

Avg pan err:   0.0091

Avg tilt err: 0.0052

movie - crazyfreq.mpeg

system improvement
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 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 challenges1
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
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
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