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