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Disturbance Correction. Final Design Review Team 5 February 25, 2003 By:Tyler Ferman Matt DiLeo Jack Damerji. Laser Deflection System. Project Overview User supplies changing input. Goal is to compensate for measured input disturbance.

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Disturbance Correction

Final Design Review

Team 5

February 25, 2003

By:Tyler Ferman

Matt DiLeo

Jack 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

Motor & Gear Selection

Mass & Inertia Calc.

Simulation & Controller Design

2/19

System Analysis

Input Pan/Tilt Considerations

Order parts

2/26

Building Input Pan/Tilt

Build Control Pan/Tilt

Input Pan/Tilt &DSP

DSP Control of Pan/Tilt

Input Testing

Testing and Fine Tuning

4/1

Develop Full Interaction

4/9

Testing, Tolerance Analysis & Fine Tuning


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

Motor & Gear Selection

Mass & Inertia Calc.

Simulation & Controller Design

2/19

System Analysis

Input Pan/Tilt Considerations

Order parts

2/26

Building Input Pan/Tilt

Build Control Pan/Tilt

Input Pan/Tilt &DSP

DSP Control of Pan/Tilt

Input Testing

Testing and Fine Tuning

4/1

Develop Full Interaction

4/9

Testing, Tolerance Analysis & Fine Tuning


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

Motor & Gear Selection

Mass & Inertia Calc.

Simulation & Controller Design

2/19

System Analysis

Input Pan/Tilt Considerations

Order parts

2/26

Building Input Pan/Tilt

Build Control Pan/Tilt

Input Pan/Tilt &DSP

DSP Control of Pan/Tilt

Input Testing

Testing and Fine Tuning

4/1

Develop Full Interaction

4/9

Testing, Tolerance Analysis & Fine Tuning


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

>> [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 =

0

y =

4.9988

z =

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 =

0

y2 =

5.0745

z2 =

36

  • Output error due to input measurement accuracy

    • 0.10 input error  ~0.0745’’ output error


Ordering Parts

  • Project Budget

    • List of Parts

    • List of Materials

    • Machine shop service


List of Parts


List of Materials

Machine Shop Service


Project Budget Summary

Total Cost


Θin1

DSP

I/O

State Estimator

Trajectory

Calculator

Θin2

Desired States

(Θ1, Θ2, Θ1dot, Θ2dot)

Mirror Position

Calculator

Angle

Saturation

Controller

Torque

Θ1

Estimated States (Θ1, Θ2, Θ1dot, Θ2dot)

State Estimator

Θ2

Torque 

Motor Control

Voltage for Motors


Math Model (Angle Calc.)

Pan/Tilt & Mirror Design

Motor & Gear Selection

Mass & Inertia Calc.

Simulation & Controller Design

2/19

System Analysis

Input Pan/Tilt Considerations

Order parts

2/26

Building Input Pan/Tilt

Build Control Pan/Tilt

Input Pan/Tilt &DSP

DSP Control of Pan/Tilt

Input Testing

Testing and Fine Tuning

4/1

Develop Full Interaction

4/9

Testing, Tolerance Analysis & Fine Tuning


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