Sound Based TrackingTeam 3

Kevin MurphyMatthew DaigleMatthew GatesVadiraj Hombal

Initial Progress

l Inertia and Friction Identificationl Model Validationl Workspace Calibrationl Test Bed Constructionl Source Localizationl Coordinate Transformationsl Preliminary Control Work

Specificationsl Desired Pan

Specificationsl Steady State Error = 0l Rise Time - .3 secsl Settling Time - .4 secsl Max Overshoot -- 5%

l Desired Tilt Specificationsl Steady State Error = 0l Rise Time - .4 secsl Settling Time - .5 secsl Max Overshoot -- 5%

l Tracking Specificationsl Tracking Frequency : 3Hzl Magnitude Error : < 10 %Settling Timel Target Velocity (max) : 2 ft/secl Angular Velocity (max) : 1.25 radians/sec

Inertia and Friction Identificationl System modeling included

inertia estimation from SolidWorks and parameters from motor and gear specifications

l Friction identification was done experimentally to identify coulomb, viscous, and static friction

0.52734 NmStiction (-)

0.51888 NmStiction (+)

0.002309 NmS/radViscous (-)

0.001432 NmS/radViscous (+)

-0.340428 NmCoulomb (-)

0.379921 NmCoulomb (+)

Experimentally Identified ValuesPan Friction Parameters

-0.27918 NmStiction (-)

0.2679 NmStiction (+)

0.004779 NmS/radViscous (-)

0.001653 NmS/radViscous (+)

-0.27297 NmCoulomb (-)

0.227694 NmCoulomb (+)

Experimentally Identified ValuesTilt Friction Parameters

Friction Results (Tilt)

Friction Results (Pan)

Model Validation

l Our identified model was simulated in MATLAB against pulse and ramp inputs for reach axis for both positive and negative voltages

l Simulated responses were compared to those of the actual system

l Step responses match closely, ramp responses differ a bit

l We believe our model is good enough to use for model-based control design

Validation Results (Tilt)

0 1 2 3 4 5 6 7 8 9 10-10

0

10

20

30

40

Time (sec)

Ang

ular

Pos

ition

(ra

d)

Tilt Axis - Actual vs. Simulated for 3 second +1.8 Volt Pulse

ActualSimulated

0 1 2 3 4 5 6 7 8 9 10-5

0

5

10

15

20

Time (sec)

Ang

ular

Vel

ocity

(ra

d/s)

ActualSimulated

0 1 2 3 4 5 6 7 8 9 10-50

-40

-30

-20

-10

0

10

Time (sec)

Ang

ular

Pos

ition

(ra

d)

Tilt Axis - Actual vs. Simulated for 3 second -2.5 Volt Pulse

ActualSimulated

1 2 3 4 5 6 7 8 9 10

-25

-20

-15

-10

-5

0

Time (sec)

Ang

ular

Vel

ocity

(ra

d/s)

ActualSimulated

0 1 2 3 4 5 6 7 8 9 10-20

0

20

40

60

80

Time (sec)

Ang

ular

Pos

ition

(ra

d)

Tilt Axis - Actual vs. Simulated for 4 second 4 Volt Ramp

ActualSimulated

0 1 2 3 4 5 6 7 8 9 10-10

0

10

20

30

40

Time (sec)

Ang

ular

Vel

ocity

(ra

d/s)

ActualSimulated

0 1 2 3 4 5 6 7 8 9 10-60

-40

-20

0

20

Time (sec)

Ang

ular

Pos

ition

(ra

d)

Tilt Axis - Actual vs. Simulated for 4 second -4 Volt Ramp

ActualSimulated

0 1 2 3 4 5 6 7 8 9 10-40

-30

-20

-10

0

10

Time (sec)

Ang

ular

Vel

ocity

(ra

d/s)

ActualSimulated

Validation Results (Pan)

0 1 2 3 4 5 6 7 8 9 10-10

0

10

20

30

40

50

Time (sec)

Ang

ular

Pos

ition

(ra

d)

Pan Axis - Actual vs. Simulated for 3 second +3 Volt Pulse

ActualSimulated

0 1 2 3 4 5 6 7 8 9 10-5

0

5

10

15

20

25

Time (sec)

Ang

ular

Vel

ocity

(ra

d/s)

ActualSimulated

0 1 2 3 4 5 6 7 8 9 10-50

-40

-30

-20

-10

0

10

Time (sec)

Ang

ular

Pos

ition

(ra

d)

Pan Axis - Actual vs. Simulated for 3 second +3 Volt Pulse

ActualSimulated

0 1 2 3 4 5 6 7 8 9 10-25

-20

-15

-10

-5

0

5

Time (sec)

Ang

ular

Vel

ocity

(ra

d/s)

ActualSimulated

0 1 2 3 4 5 6 7 8 9 10-5

0

5

10

15

20

Time (sec)

Ang

ular

Pos

ition

(ra

d)

Pan Axis - Actual vs. Simulated for 4 second +4 Volt Ramp

ActualSimulated

0 1 2 3 4 5 6 7 8 9 10-10

0

10

20

30

40

Time (sec)

Ang

ular

Vel

ocity

(ra

d/s)

ActualSimulated

0 1 2 3 4 5 6 7 8 9 10-25

-20

-15

-10

-5

0

5

Time (sec)

Ang

ular

Pos

ition

(ra

d)

Pan Axis - Actual vs. Simulated for 4 second +4 Volt Ramp

ActualSimulated

0 1 2 3 4 5 6 7 8 9 10-40

-30

-20

-10

0

10

Time (sec)

Ang

ular

Vel

ocity

(ra

d/s)

ActualSimulated

Workspace Calibration

Source Localization

Source Localization

Transformations

Test Bed Construction

l ¾ inch MDF test bedl 2 by 3’s to raise the test

bed to hide wiresl 2 by 4’s to support the

pan tilt mechanisml Microphones solderedl Testing Soon to Begin

Initial Control

l Cancelled Coulomb and Static Frictionl Plant is in the form a/(s2+bv*s-c)l Have Linear and Nonlinear model of our plant

to testl Using rltool on our plant we can design a

suitable controller

Summary of Progress

l Project as of now is under projected budgetl The next tasks on our schedule will be

completing a controller and setting up the microphone network

l After that all the remains is integration which will be the most challenging task yet to complete