Pan Tilt Antenna ControllerPan Tilt Antenna ControllerMidterm Progress ReportMidterm Progress Report

Group Number E8Group Number E8

Project Sponsor:Project Sponsor: CalitCalit22

Course Advisor:Course Advisor: Jan KleisslJan Kleissl

Project Advisors:Project Advisors: Daniel …Daniel …

Team Members:Team Members: Miguel …Miguel …CoryCory

Pan Tilt Antenna ControllerPan Tilt Antenna ControllerProject Definition and ObjectivesProject Definition and Objectives

Background:Background:

Students have designed the Pan Tilt Students have designed the Pan Tilt Antenna Controller to remotely Antenna Controller to remotely rotate and tilt a directional antenna rotate and tilt a directional antenna that will be mounted atop a 35 foot that will be mounted atop a 35 foot antenna mast. antenna mast.

Currently, control of the device is Currently, control of the device is limited to basic on/off commands limited to basic on/off commands using a simple servo controller and using a simple servo controller and GUI.GUI.

Objectives:Objectives:

Employ GPS input with extremum Employ GPS input with extremum seeking to create a more adaptable seeking to create a more adaptable controller for the fine tuning of controller for the fine tuning of signal strength or accommodation signal strength or accommodation for the movement of signal sources.for the movement of signal sources.

Theoretical MethodsTheoretical MethodsAll blocks Ts = Ts

Zero-OrderHold1

Zero-OrderHold

XY Graph

f(u)

Signal Map

1

1/50s+1Servo 2

1

1/50s+1Servo 1

Scope

Quantizer

Product1

Product

Perturbation Sine Wave3

Perturbation Cosine Wave2

1s Integrator1

1s Integrator

-.3

Gain3

10

Gain2

.3

Gain1

10

Gain

z-1

z-0.999

DiscreteHigh-Pass Filter

Demodulating Sine Wave

Demodulating Cosine Wave1

Add1

Add

Initial Model Testing and Tuning:Initial Model Testing and Tuning:A continuous-time simulation A continuous-time simulation using Simulink.using Simulink.

Two-Dimensional Expansion:Two-Dimensional Expansion:Allow for the pan and tilt Allow for the pan and tilt motions.motions.

Discretization:Discretization:Transform to discrete-time Transform to discrete-time with Z-transforms.with Z-transforms.

Control Algorithm:Control Algorithm:Difference equations from Difference equations from the discrete systemthe discrete system

-400

-200

0

Mag

nitu

de (d

B)

101

102

103

104

-315-270-225-180-135-90-45

Phas

e (d

eg)

Integrator Discrete Transformation

Frequency (rad/sec)

Continuous-time IntegratorMATLAB ConversionTustin Approximation

-60

-40

-20

0

20

Mag

nitu

de (d

B)

10-2

10-1

100

101

102

0

45

90

Phas

e (d

eg)

High-Pass Filter Discrete Transformation

Frequency (rad/sec)

Continuous-time High-Pass FilterMATLAB ConversionTustin Approximation

Experimental MethodsExperimental MethodsImplementation of Control Algorithm:Implementation of Control Algorithm:

Compile C programCompile C program

Input/Output Processing:Input/Output Processing:Configure serial inputs and PWM Configure serial inputs and PWM outputs.outputs.

Initial Position Algorithm:Initial Position Algorithm:Integrate GPS points of 2 antennas.Integrate GPS points of 2 antennas.

Prototype Circuit Board:Prototype Circuit Board:Microcontroller chip, I/O connections, Microcontroller chip, I/O connections, power circuitry.power circuitry.

Preliminary Functionality Testing:Preliminary Functionality Testing:Constant circular motion of antenna Constant circular motion of antenna controller via a simplified algorithm. controller via a simplified algorithm. Extremum Seeking Control.Extremum Seeking Control.

System TuningSystem Tuning

Experimentation: Experimentation: Expose controller to various situations.Expose controller to various situations.

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

0

0.5

1

1.5

2

2.5

3

3.5

4

Extremum Seeking Algorithm

Project Task DescriptionsProject Task Descriptions

ResearchResearch

Simulink ModelingSimulink Modeling

C ProgrammingC Programming

ImplementingImplementing

TestingTesting

TuningTuning

EvaluationEvaluation

Pan Tilt Antenna ControllerPan Tilt Antenna ControllerTeam Assignments and OrganizationTeam Assignments and Organization

Research:Research:

Microcontrollers – ScottMicrocontrollers – ScottSignal Properties – MiguelSignal Properties – MiguelExtremum Seeking – AndyExtremum Seeking – AndyComponent Integration – CoryComponent Integration – Cory

Programming:Programming:

PWM Output – MiguelPWM Output – MiguelSignal Strength – CorySignal Strength – CoryCompass Input – ScottCompass Input – ScottExtremum Seeking – AndyExtremum Seeking – Andy

Implementation:Implementation:

Circuitry – Cory, MiguelCircuitry – Cory, MiguelTesting and Tuning – Team EffortTesting and Tuning – Team Effort

Pan Tilt Antenna ControllerPan Tilt Antenna ControllerWork ScheduleWork Schedule

Week 1 – Adaptive Control Week 1 – Adaptive Control ResearchResearch

Week 2 – Continuous-Time Week 2 – Continuous-Time ModelingModeling

Week 3 – Discrete-Time ModelingWeek 3 – Discrete-Time Modeling

Week 4 – Algorithm ConstructionWeek 4 – Algorithm Construction

Week 5 – Input/Output Week 5 – Input/Output ProgrammingProgramming

Week 6 – Initial Position ProgrammingWeek 6 – Initial Position Programming

Week 7 – Functionality TestingWeek 7 – Functionality Testing

Week 8 – Extremum Seeking Week 8 – Extremum Seeking ProgrammingProgramming

Week 9 – TuningWeek 9 – Tuning

Week 10 - EvaluationWeek 10 - Evaluation

Pan Tilt Antenna ControllerPan Tilt Antenna ControllerProgress to DateProgress to Date

Research:Research:

Extremum Seeking Control Extremum Seeking Control Optimization Optimization

Antenna Network ConfigurationAntenna Network Configuration Microcontroller FunctionalityMicrocontroller Functionality I/O ProtocolI/O Protocol

System Model:System Model:

Simulink Continuous ModelSimulink Continuous Model Simulink Discrete ModelSimulink Discrete Model C Language AlgorithmC Language Algorithm

Implementation:Implementation:

Microcontroller ChosenMicrocontroller Chosen I/O Protocol AcquiredI/O Protocol Acquired