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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. Goals: movie - movingpantilt.mpeg Correct for a measurable input disturbance.

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Laser Deflection System: Disturbance Correction

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  1. Laser Deflection System:Disturbance Correction Final Presentation Team 5 April 23, 2003 By: Tyler Ferman Matt DiLeo Jack Damerji

  2. 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.

  3. 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

  4. 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

  5. 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

  6. Controller Design • Linearizing System • Finding a PID compensator • Simulating the compensator on nonlinear system

  7. Controller Design • Pan • Tilt

  8. Step Response Pan Side

  9. Step Response Tilt Side

  10. Actual Performance Results 1 Hit rate: 100% Avg pan err: 0.0029 Avg tilt err: 0.0029 movie - target.mpeg

  11. Actual Performance Results 2 Hit rate: 99.6% Avg pan err:   0.0045 Avg tilt err: 0.49

  12. Actual Performance Results 3 Hit rate: 85.3% Avg pan err:  0.0044 Avg tilt err: 0.0057

  13. Actual Performance Results 4 Hit rate: 65.8% Avg pan err:   0.0091 Avg tilt err: 0.0052 movie - crazyfreq.mpeg

  14. Sinusoidal Response Pan side

  15. Sinusoidal Response Tilt side

  16. Comparison of Performance

  17. System Improvement Max Disturbance without controller 13in on average from each side VS • Max Disturbance with controller 1in from each side Movie: closeup.mpeg

  18. 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

  19. 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)

  20. 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

  21. Questions

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