Pan Tilt Antenna Controller Midterm Progress Report Group Number E8 Project Sponsor: Calit2 Course Advisor: Jan Kleissl Project Advisors: Daniel … Team Members: Miguel … Cory Pan Tilt Antenna Controller Project Definition and Objectives Background: Students have designed the Pan Tilt Antenna Controller to remotely rotate and tilt a directional antenna that will be mounted atop a 35 foot antenna mast. Currently, control of the device is limited to basic on/off commands using a simple servo controller and GUI. Objectives: Employ GPS input with extremum seeking to create a more adaptable controller for the fine tuning of signal strength or accommodation for the movement of signal sources. Theoretical Methods Initial Model Testing and Tuning: A continuous-time simulation using Simulink. All blocks T s = T s 1 XY Graph 1/50s+1 Servo 1 Scope 1 f(u) 1/50s+1 Signal Map Quantizer Servo 2 1 1 Integrator1 s s Integrator Discrete z-1 High-Pass Filter z-0.999 Zero-Order Zero-Order Hold1 Hold 10 Product Gain Add Two-Dimensional Expansion: .3 Gain1 Demodulating Sine Wave Allow for the pan and tilt motions. Perturbation Cosine Wave2 10 Product1 Gain2 Add1 -.3 Gain3 Demodulating Cosine Wave1 Perturbation Sine Wave3 Discretization: Magnitude (dB) Phase (deg) Transform to discrete-time with Z-transforms. Integrator Discrete Transformation 0 Continuous-time Integrator -200 MATLAB Conversion Tustin Approximation -400 -45 -90 -135 -180 -225 -270 -315 1 Control Algorithm: 3 10 4 10 10 Frequency (rad/sec) High-Pass Filter Discrete Transformation Magnitude (dB) 20 0 Continuous-time High-Pass Filter -20 MATLAB Conversion -40 Tustin Approximation -60 90 Phase (deg) Difference equations from the discrete system 2 10 45 0 -2 10 -1 10 0 10 Frequency (rad/sec) 1 10 2 10 Experimental Methods Implementation of Control Algorithm: Compile C program Extremum Seeking Algorithm Input/Output Processing: 4 Configure serial inputs and PWM outputs. 3.5 Initial Position Algorithm: 3 Integrate GPS points of 2 antennas. 2.5 Prototype Circuit Board: Microcontroller chip, I/O connections, power circuitry. Preliminary Functionality Testing: Constant circular motion of antenna controller via a simplified algorithm. Extremum Seeking Control. System Tuning Experimentation: Expose controller to various situations. 2 1.5 1 0.5 0 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 Project Task Descriptions Research Simulink Modeling C Programming Implementing Testing Tuning Evaluation Pan Tilt Antenna Controller Team Assignments and Organization Research: Microcontrollers – Scott Signal Properties – Miguel Extremum Seeking – Andy Component Integration – Cory Programming: PWM Output – Miguel Signal Strength – Cory Compass Input – Scott Extremum Seeking – Andy Implementation: Circuitry – Cory, Miguel Testing and Tuning – Team Effort Pan Tilt Antenna Controller Work Schedule Week 1 – Adaptive Control Research Week 6 – Initial Position Programming Week 2 – Continuous-Time Modeling Week 7 – Functionality Testing Week 3 – Discrete-Time Modeling Week 8 – Extremum Seeking Programming Week 4 – Algorithm Construction Week 9 – Tuning Week 5 – Input/Output Programming Week 10 - Evaluation Pan Tilt Antenna Controller Progress to Date Research: Extremum Seeking Control Optimization Antenna Network Configuration Microcontroller Functionality I/O Protocol System Model: Simulink Continuous Model Simulink Discrete Model C Language Algorithm Implementation: Microcontroller Chosen I/O Protocol Acquired