ECSE 4962 Control Systems Design  Spring 2003

Instructor:                  John T. Wen, wen@cat.rpi.edu x 8744 (CII 8213)

TA:                              Ben Potsaid, potsaid@cat.rpi.edu x 2973 (CII 8123)

Secretary:                   Melissa Reardon, melissa@ecse.rpi.edu x 6313 (JEC 6049)

Lecture Hour:            W 9:00am-11:00am

Lab Hours                  TW 5:00pm-6:20pm

Classroom:                 JEC 4304

Potential Projects

Pan-Tilt mechanisms are used in many pointing applications, from large telescope to webcams.  This course offers a number of interesting and challenging projects based on the design and control of pan-tilt platforms.  Each project team will select from a list of potential projects or propose its own.  The project team will need to formulate the design problem in terms of quantitative performance goal and design constraints, develop conceptual design, size and select actuators and sensors, design the feedback controller, model, analyze, and simulate the system (using MATLAB and Simulink), construct the physical system, and test and demonstrate its operation.  A basic platform type of mechanism will be provided to each project team. 

Some potential projects are:

Motion tracking based on an array type sensor:

Solar power sun tracker: Solar cell array will track the sun across the sky.

Surveillance pan and tilt for camera: Tracking a moving target using a webcam.      

Motion tracking based on multiple sensors (e.g., one fixed, one mounted on pan-tilt  platform):

Satellite dish positioner: locating, pointing, tracking of a moving signal beacon

Audio signal tracker: locating, pointing, tracking of a moving audio signal source

Motion based on a single sensor

Self leveling marker: Generating a horizontal line using a laser pointer based on the tilt sensor feedback

Disturbance compensation: Reject disturbance based on accelerometer/gyro feedback

Motion based on open loop command

Pan and tilt for telescope: Tracking of a celestial object, e.g., Venus or Mars, based on published data and initial calibration.                                                     

Laser beam "director": Move a mirror to generate a specified pattern on screen by using a fixed laser source.  Pattern specified in the screen frame will need to be transformed to the motion in platform frame.

Here are some examples of some real world pan and tilt applications:

Satellite Dish Surveillance Camera Solar Powered Sun Tracker    NL-500E photo2  Telescope Star Tracker 

Pan and tilt mechanism overview

A complete pan and tilt mechanism is shown in Figure 1, Complete Pan and Tilt Mechanism.  Each team will mount their project on the pan-tilt platform.

Pant-Tilt Mechanism (Overview)

Figure 1 Complete Pan and Tilt Mechanism

Because of the different mass properties and performance requirements for each project, each pan and tilt mechanism will require that the motor and transmission be sized appropriately.  CSD supplies a skeletal pan and tilt mechanism to each team as shown in Figure 2 Skeletal Pan and Tilt Mechanism.  Each team will then choose a motor and transmission based on calculations and dynamic simulations from a list of suggested motor vendors.  Teams are allocated a budget in order to purchase drive components as well as additional sensors, actuators, hardware, etc. that are required for the specific project.

Pan-Tilt Mechanism (Skeletal)

Figure 2 Skeletal Pan and Tilt Mechanism

Figure 3, Student Specified Components, shows the drive components that are required to complete the Pan and Tilt Mechanism.

Pan-Tilt Mechanism (Design Portion)

Figure 3 Student Specified Components

Step by step (to be thoroughly documented in each studentís design notebook)

Choose a project

Research state of the art

Define performance specifications

Derive equations of motion (template of EOM is supplied by CSD)

Create linear/non-linear simulation models based on catalog/CAD parameter values

Iterate controller and mechanical design in simulation to choose drive components

Purchase Drive components and project specific hardware

Experimentally determine parameter values (parameter identification procedures)

Update linear/non-linear model with new parameter values

Design and implement low level PID controller

Design and implement high level controller (additional logic, initialization sequence, etc.)

Run the project

Experimentally assess the performance of the final design

Project resource page:   http://www.cat.rpi.edu/~potsaid/csd/Resources.html


Back to course Homepage


Email: wen@cat.rpi.edu