Скачать презентацию Group 6 Target Tracking Spotlight TTS Maureen Desi Скачать презентацию Group 6 Target Tracking Spotlight TTS Maureen Desi

6a8328b584f2b1eb21cbc585a9557085.ppt

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Group 6 Target Tracking Spotlight (TTS) Maureen Desi Joel Douglass Rajiv Iyer Dennis Trimarchi Group 6 Target Tracking Spotlight (TTS) Maureen Desi Joel Douglass Rajiv Iyer Dennis Trimarchi

Motivation WHO • Law Enforcement • Entertainment Industry WHY • Speed & Accuracy • Motivation WHO • Law Enforcement • Entertainment Industry WHY • Speed & Accuracy • Economic Savings

Similar Products • Martin Lighting Director (MLD) l l 3 D Tracking System for Similar Products • Martin Lighting Director (MLD) l l 3 D Tracking System for automated followspot 4 Ultrasonic Speakers l frame of reference for tracking system Modified Wireless Microphone l Detects ultrasonic pulses from speakers l Sends radio signals back to the MDL system http: //www. martin. dk/product. asp? product=lightingdirector http: //www. martin. dk/product. asp? product=

Project Goal & Approach Goal Successfully track and illuminate a moving target with a Project Goal & Approach Goal Successfully track and illuminate a moving target with a spotlight. Approach Design a pan-tilt system to control the spotlight so that it will follow and illuminate a moving target. The location of the target will be determined using ultrasonic transmitters and receivers.

Objectives l l l Track and illuminate a target roughly 6 in. in diameter Objectives l l l Track and illuminate a target roughly 6 in. in diameter as it moves around a 5 x 5 ft. grid The required range of motion for both the pan and tilt angles are +/- 27 degrees. The system should be able to traverse the length of the grid in 0. 5 sec. in either direction (angular speed = 1. 88 rad/sec. ) Mount system on stationary platform 5 ft. above grid 2 Path - 3 Phase Design Process Integration of sensors after controller algorithm meets desired specifications

Design Strategy Sensors Control Identify Part Specifications Data Acquisition Program Simulation Order Parts System Design Strategy Sensors Control Identify Part Specifications Data Acquisition Program Simulation Order Parts System Construction and Programming Testing (Parameter Identification) Phase III Project Completion!

Plan of Action Identify Part Specs Pan and Tilt Motor Comparison Controller Simulation System Plan of Action Identify Part Specs Pan and Tilt Motor Comparison Controller Simulation System Construction/Programming, Testing Phase II Data Acquisition Programming Sensor Simulation Sensor System Construction, Programming and Testing Phase III • Pittman Express GM 8724 S 010 • Mass = 0. 321 Kg • Peak Torque (stall) = 42 oz-in • Pittman Express GM 8712 -11 • Mass = 0. 194 Kg • Peak Torque (stall) = 6. 8 oz-in

Plan of Action Identify Part Specs Controller Simulation Pulleys Motor Pulley (2 flange) • Plan of Action Identify Part Specs Controller Simulation Pulleys Motor Pulley (2 flange) • SDP-SI Timing Belt Pulley – 40 D. P. System Construction/Programming, Testing Phase II • Bore Size = 0. 188 in • Pitch Diameter = 0. 506 in • Shaft Pulley Data Acquisition Programming Sensor Simulation Sensor System Construction, Programming and Testing Phase III • SDP-SI Timing Belt Pulley – 40 D. P. • Bore Size = 0. 375 in • Pitch Diameter = 2. 60 in • Gear Ratio = 5. 13

Plan of Action Identify Part Specs Timing Belts Controller Simulation System Construction/Programming, Testing Phase Plan of Action Identify Part Specs Timing Belts Controller Simulation System Construction/Programming, Testing Phase II Data Acquisition Programming Sensor Simulation Sensor System Construction, Programming and Testing Phase III Polyurethane Belt • 0. 0816 in. (40 D. P. ) Pitch • 135 Teeth • 3/16 in. wide • Pitch Length = 11. 02 in.

Plan of Action Identify Part Specs Controller Simulation System Construction/Programming, Testing Phase II Data Plan of Action Identify Part Specs Controller Simulation System Construction/Programming, Testing Phase II Data Acquisition Programming Sensor Simulation Sensor System Construction, Programming and Testing Phase III Spotlight • RAYOVAC Sportsman • Mass = 0. 1008 Kg • Height = 2. 5 in • Length = 3. 0 in • Width = 2. 5 in • Center of mass

Plan of Action Identify Part Specs Ultrasonic Sensors-SRF 04 • Voltage - 5 v Plan of Action Identify Part Specs Ultrasonic Sensors-SRF 04 • Voltage - 5 v only required Controller Simulation System Construction/Programming, Testing Phase II Data Acquisition Programming Sensor Simulation Sensor System Construction, Programming and Testing Phase III • Current - 30 m. A Typ. 50 m. A Max. • Frequency - 40 KHz • Max Range - 3 m , Min Range - 3 cm • Echo Pulse - Positive TTL level signal, width proportional to range. • Small Size - 43 mm x 20 mm x 17 mm

Plan of Action Identify Part Specs Controller Simulation System Construction/Programming, Testing Phase II Data Plan of Action Identify Part Specs Controller Simulation System Construction/Programming, Testing Phase II Data Acquisition Programming Sensor Simulation Sensor System Construction, Programming and Testing Phase III • Created a model based on estimated masses, inertias, motor parameters, gear ratios, etc. • Simulated a step input with this model • Simulated a sine input with the model oscillating between our limitations • Linearized the model for more systematic controller tuning

Kp 1 = -0. 9 Kd 1 = -0. 09 Kp 2 = -0. Kp 1 = -0. 9 Kd 1 = -0. 09 Kp 2 = -0. 55 Kd 2 = -0. 035

Kp 1 = -2. 0 Kd 1 = -0. 1 Kp 2 = -2. Kp 1 = -2. 0 Kd 1 = -0. 1 Kp 2 = -2. 0 Kd 2 = -0. 1

Plan of Action Identify Part Specs Controller Simulation System Construction/Programming, Testing Phase II Data Plan of Action Identify Part Specs Controller Simulation System Construction/Programming, Testing Phase II Data Acquisition Programming Sensor Simulation Sensor System Construction, Programming and Testing Phase III

Plan of Action Identify Part Specs l Phase I l Controller Simulation Locate and Plan of Action Identify Part Specs l Phase I l Controller Simulation Locate and shine spotlight on specific points on the grid System Construction/Programming, Testing Phase II Data Acquisition Programming Sensor Simulation Sensor System Construction, Programming and Testing Phase III l Phase II l Locate and shine on a predetermined path (continuous sequence of points)

Plan of Action Identify Part Specs l Controller Simulation System Construction/Programming, Testing Phase I Plan of Action Identify Part Specs l Controller Simulation System Construction/Programming, Testing Phase I l Phase II Data Acquisition Programming Sensor Simulation Sensor System Construction, Programming and Testing Phase III l Develop code to receive signal and convert data to a location on the grid Simulate data to determine the ability of the system to process information with receivers in different locations to determine optimal setup (speed & accuracy) Build and Test Sensor System

Cost Spotlight $ 12. 00 Batteries 5. 00 Pan Motor 74. 74 Tilt Motor Cost Spotlight $ 12. 00 Batteries 5. 00 Pan Motor 74. 74 Tilt Motor 74. 74 Motor Pulley (x 2) 15. 04 Shaft Pulley (x 2) 37. 22 Timing Belts (x 2) 10. 00 Ultrasonic Receivers & Transmitters 60. 00 Miscellaneous Costs 50. 00 Subtotal $338. 74 Labor: 4 members*$20/hr*2. 5*140 hrs 28, 000. 00 TOTAL $28, 338. 74

Schedule Week 6 Final Design & Simulation Week 7 Design Review, Order Parts Week Schedule Week 6 Final Design & Simulation Week 7 Design Review, Order Parts Week 8 Pan-Tilt System Construction: Dennis, Rajiv Week 9 Programming (Real-time Code): Joel, Maureen System Testing (Parameter & Friction Identification) : Team Week 10 Complete Construction and begin Phase II: Joel, Rajiv Sensor System Construction and Testing: Dennis, Maureen Week 11 Phase III – Integration of Sensors: Team Week 12 Controller tuning and optimization: Team Week 13 Demonstration of Final System: Team Week 14 Final Report: Team

Target Tracking Spotlight (TTS) THE END Target Tracking Spotlight (TTS) THE END