Pan-Tilt Antenna Controller

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