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# Laser Deflection System: Disturbance Correction - PowerPoint PPT Presentation

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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Presentation Transcript
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.

• 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

• 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

• 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

• Linearizing System

• Finding a PID compensator

• Simulating the compensator on nonlinear system

• Pan

• Tilt

Hit rate: 100%

Avg pan err: 0.0029

Avg tilt err: 0.0029

movie - target.mpeg

Hit rate: 99.6%

Avg pan err:   0.0045

Avg tilt err: 0.49

Hit rate: 85.3%

Avg pan err:  0.0044

Avg tilt err: 0.0057

Hit rate: 65.8%

Avg pan err:   0.0091

Avg tilt err: 0.0052

movie - crazyfreq.mpeg

Max Disturbance without controller

13in on average from each side

VS

• Max Disturbance with controller

1in from each side

Movie: closeup.mpeg

• 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

• Challenges:

• Discrepancy between system model simulation and physical system

• Initialization of input and mirror angles

• Quantization Effects: