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.

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Laser Deflection System: Disturbance Correction

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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: .002Coulomb Friction = 0.18

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


Controller design

Controller Design

  • Linearizing System

  • Finding a PID compensator

  • Simulating the compensator on nonlinear system


Controller design1

Controller Design

  • Pan

  • Tilt


Step response pan side

Step Response Pan Side


Step response tilt side

Step Response Tilt Side


Laser deflection system disturbance correction

Actual Performance Results 1

Hit rate: 100%

Avg pan err: 0.0029

Avg tilt err: 0.0029

movie - target.mpeg


Laser deflection system disturbance correction

Actual Performance Results 2

Hit rate: 99.6%

Avg pan err:   0.0045

Avg tilt err: 0.49


Laser deflection system disturbance correction

Actual Performance Results 3

Hit rate: 85.3%

Avg pan err:  0.0044

Avg tilt err: 0.0057


Laser deflection system disturbance correction

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 Pan side


Sinusoidal response tilt side

Sinusoidal Response Tilt side


Comparison of performance

Comparison of Performance


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


Questions

Questions


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