Pan-Tilt Signature System
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1 Pan-Tilt Signature System
2 Pan-Tilt Signature System Rob Gillette Matt Cieloszyk Luke Bowen Final Presentation
3 Introduction Problem Statement: We proposed to build a device that would mimic human script using a pan-tilt system. Motivation The development of this system would require work in many fields relevant to control systems design while remaining within the limited scope of the class. The system would be relatively unique and fill a void in the high-tech consumer market.
4 Objectives Recreate unique human script using a customized trajectory based on handwriting. Develop a robust, accurate, reliable controller able to deal with the large disturbances present in our system. Develop a unique system with possible future market value.
5 Specifications Range of motion Speed: 7x7 inch canvas Pan and Tilt: +/- 45 deg (+/ rad) Cover 7 inches in 1 second Pan and Tilt: 7 in/sec ( rad/sec) Rise time and Settling time: <0.3 seconds
6 Specifications Error Steady State Error: minimal The pen must reach the desired input for script to be clearly legible. Ideally S.S. error < 1% Tracking error: minimal however we are tracking a custom trajectory so there is some flexibility. Ideally Tracking error <2%
7 Design Strategy Our project was built through the simultaneous completion of three phases. Mechanical Design Phase Simulation and Modeling Phase Control Design Phase
8 Mechanical Design Phase Replaced original encoders Original HP encoders Missed counts at middle to high velocities Located on motor shaft, thus did not account for deformation or disturbances New Encoders Double resolution: 2048 vs Located on output shaft
9 Mechanical Design Phase Pen Mount A spring loaded pen mount was constructed from machined aluminum and mounted on the tilt axis. Designed to hold a Sharpie marker. Contained housing for lightweight spring and accommodation for possible servo motor enhancements
10 Mechanical Design Phase Aluminum Pen Mount
11 Mechanical Design Phase Writing Surface A writing surface was constructed using wood and metal braces. A sturdy paper backing was used to prevent the marker from bleeding through. The surface is free to rock on its base to reduce high levels of friction during operation.
12 Simulation and Modeling Phase Motor Feasibility We ran point to point control using a preliminary controller and an estimation of friction to determine if our motors were adequate. m otor 1 velocity (rad/s) Pittman GM8724S010 not feasible m otor 2 velocity (rad/s) Pittman GM8724S017 not feasible Torque requirements fell within the ranges of the motors feasible motor 1 torque (Nm) feasible motor 2 torque (Nm)
13 Simulation and Modeling Phase Pan Axis Velocity Curves Pan Velocity Curves 2 Voltage input from -1v to +1v 0 Velocity time
14 Simulation and Modeling Phase Pan Friction ID Viscous Coulomb applied torque (N-m) Coulomb Friction: , Viscous Friction: , friction identification data- Tilt Axis steady state theta dot (rad/s)
15 Simulation and Modeling phase Tilt Axis Velocity Curves Tilt Velocity Curves 2 Voltage input from -1v to +1v velocity time
16 Simulation and Modeling Phase Tilt Friction ID Viscous Coulomb applied torque (N-m) Coulomb Friction: , Viscous Friction: , friction identification data steady state theta dot (rad/s)
17 Simulation and Modeling Phase Open Loop Model Developed using physical parameters of system: mass, inertia, COG, friction, motor specs, etc. velocity Tilt Model Verification time Pan Model Verification 2 velocity time
18 Simulation and Modeling Phase Closed Loop Model Parameters from the open loop model were used in developing a closed loop model.
19 Control Design Phase Identification of pan and tilt transfer functions for use in RLTOOL Gtilt(s) ) = (31.08)/(s^2+2.35s) Gpan(s) ) = (21.08)/(s^2+2.34s+1.8)
20 Control Design Phase Gtilt(s) was imported to RLTOOL. 2 poles and 2 zeros used
21 Control Design Phase Step response of tilt axis Rise time = 0.05 sec Settling time = 0.07 sec
22 Control Design Phase Gpan(s) was imported to RLTOOL. 2 poles and 2 zeros used
23 Control Design Phase Step response of pan axis Rise time = 0.05 sec Settling time = 0.06 sec
24 Control Design Phase Gtilt(s) was imported to RLTOOL. 1 pole and 2 zeros used
25 Control Design Phase Step response of tilt axis Rise time = 0.05 sec Settling time = 0.09 sec
26 Control Design Phase Gpan(s) was imported to RLTOOL. 1 pole and 2 zeros used
27 Control Design Phase Step response of pan axis Rise time = 0.06 sec Settling time = 0.1 sec
28 Control Design Phase Summary of RLTOOL results The compensators achieved with 1 pole and 2 zeros were deemed adequate. The advantage being that PID gains can be easily obtained from the form of C(s) TILT AXIS: Kp = 3.01, Ki = 1, Kd =1.275 PAN AXIS: Kp = 4.065, Ki = 1.5, Kd = 1.683
29 Control Design Phase Controller tuning RLTOOL gains were placed into actual control system and performed well. Ki and Kd were very good, Kp needed to be increased. TILT AXIS: Kp = 55, Ki = 0.88, Kd =1.2 PAN AXIS: Kp = 60, Ki = 0.98, Kd = 1.95
30 Results We developed several scripts to test various pan and tilt motions for accuracy. The following slides show graphs of desired and actual trajectories during operation.
31 Results Square demonstrates independent pan and tilt motion
32 Results Star demonstrates diagonal motion
33 Results Circle demonstrates tracking of sin waves
34 Results Signature demonstrates complete realization of project goals.
35 Conclusion We believe we accomplished the goals that we set forth in the beginning of the semester Our machine is capable of accurately reproducing any signature it is given Our machine is simply built, durable, reliable, and cost effective Our machine is unique and holds possible market value given more time for development.
36 Conclusion Possible Enhancements There are considerable disturbances that could be dealt with through more thorough mechanical design. Motion of pen Motion of writing surface A servo was going to be incorporated into the machine to give the ability to remove the pen from the canvas.
37 Servo Driven Pen Movement Operates off of a Pulse Width Modulated signal Many ways to send the signal, most common being a 555 timer Powered by a 6v source Range of motion ¾ one way, 1 ½ full
38 Servo Driven Pen Movement Pen movement needed to create some characters Servo able to pull and push the pen Planned on connecting via a wire and spring for gear safety
39 Future Plans Incorporate the servo into the design Program servo movement into existing designs currently possible by the machine Create new output designs for the machine and controller to handle Continually fine tune the controller
40 Conclusion Costs We successfully kept our project well under our allowed budget Schedule We successfully completed our schedule with only minor adjustments
41 Schedule Analysis February Simulations and Gather Gains and Motor Feasibility CAD Drawings and Physical Properties, Order Parts March Gains, Motor timing Testing Part Fabrication and Mounting April Software Testing and Tuning Hardware Testing and Tuning Final Presentation and Report
42 Schedule Analysis February s goals might have overstepped with regards to modeling March was used to finish modeling, friction id, and experimentation April s deadlines were met Overall the schedule was reasonable and a helpful guideline
43 Conclusion Questions?
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