Joel Handy Rob Schugmann Jon Addison

1. CONTROLSYSTEMSDESIGN Final Presentation Joel HandyRob SchugmannJon Addison TEAM7 STARSEARCH

2. Final Presentation Outline • Project Overview • Objective • Review original design • Describe project construction and functional tests • Discuss successes and challenges • Future Development Final Presentation Outline

3. Project Overview Project Overview • Using a telescope can be entertaining but also frustrating • Difficulties include • Locating a celestial object • Keeping the object within view over time

4. Project Overview Project Overview Cont These difficulties can be overcome through the design of a motorized telescope that can track a celestial object while remaining resistant to disturbances.

5. Original Goals • Design a self-calibrating computer-positioning telescope • Should withstand disturbances and stay centered on the desired object • Should be easy to use while remaining relatively cheap to implement Original Goals

6. Design Concerns & Specifications • Speed • Point to point movement and tracking require different speeds • Resolution • A small change in telescope position yields a large change in the field of view

7. Speed Speed • Specifications for Point to Point Movement • 72°.00 / sec • Specifications for Tracking Speed • 360°/23.93446743 hrs. • 15°.04107000 / hr.

8. Resolution Resolution Resolution is the smallest movement possible in a system High Resolution Requirements - 0.25 degrees - Half of the field of view at medium magnification - Increase resolution by gearing down the system

9. Resolution and Accuracy Resolution High Resolution Requirements - 0.25 degrees - Half of the field of view at medium magnification - Increase resolution by gearing down the system Accuracy .-0.25 degrees -Any more error and objects will leave field of view

10. Project Development Project Development • Linear Simulation • Motor Selection • Non-linear Simulation • Experimental Analysis

11. Linear Simulation Linear Simulation Developed mathematical model of system Used robotic parameters to obtain required torques for a given path

12. Torque Constraints Torque Constraints

13. Motor and Gear Selection Motor Selection • Motor (Pittman GM8724S016) • 19.5:1 internal gear ratio • Max continuous torque of .29 N/m • Gears • External gear ratio of 4:1 • Overall gear ratio of 80:1

14. RLtool RLtool Pan Step Response Tilt Step Response

15. Non-linear Simulation Non-linear w/o

16. Non-linear Simulation Friction Compensation Non-linear w/

17. Testing Procedure Testing Procedure • Created MATLAB script file • -Automated all initialization and operation • -Automated data collection

18. Experimental Analysis No Trajectory Generation Experimental Analysis

19. Trajectory Generation Trajectory generator

20. Experimental Analysis Trajectory Generation Experimental Analysis

21. Slow Tracking Slow tracking

22. Initial vs Final Specifications Final results

23. Challenges Challenges • Excessive Speed • -Telescope Unsafe • -Violent movements • Trajectory Generator • -Runtime termination • -Initial run errors

24. Project Cost Project Cost

25. Future Developments Future Developments • Sensor Integration • -Greater system autonomy • High resolution encoders • -Would allow for much greater accuracy • Inclusion of Position data • -Allow users to target objects by name rather than coordinates

26. Questions Questions?