briefing overview and context spectre seeks to design and prototype a sail blade damping...
TRANSCRIPT
Critical DesignReviewSPECTRE
Solar-sail Pitch Enabling Controller Through Root Excitation
Michael Andrews Brendon Barela Austin Cerny Corinne Desroches Kyle Edson Conrad Gabel Chris Riesco Justin Yong
Intr
oduc
tion
2
Briefing Overview and Context
bull SPECTRE seeks to design and prototype a sail blade damping augmentation controller for flapping and twisting blade oscillations for a proposed heliogyro CubeSat mission
bull SPECTRE is a continuation of last yearrsquos GHOST senior design project which focused on sail blade deployment and a blade pitching controller
Customer
Dr Keats Wilkie
NASA Langley
Advisor
Dr Xinlin Li
LASP
Department of Aerospace Engineering Sciences CU
Content Breakdown
Introduction
Design Solutions
Verification and Validation
Project Risk
Project Planning
Intr
oduc
tion
3
Heliogyro Backgroundbull Propulsion system using solar radiation
pressure
bull Solar sail ldquobladesrdquo are held in place with centripetal forces
bull Spins similarly to a helicopter
bull Solar pressure instead of air
bull Proposed heliogyros have long blades (gt1 km) but no heliogyro mission has ever flown
bull NASA would like a CubeSat demonstrator
bull GHOST developed a deployment system
bull Pitching was not completed
bull SPECTRE demonstrates the ability to pitch the solar-sail blades and damp oscillations in the blades
Illustration of proposed heliogyro solar sail rendezvous with Halleyrsquos Comet (source NASAJPL)
GHOST 2 Blade CubeSat DesignDimensions 10cm x 20cm x 30cm Blade Dimensions 15cm x ~30m
Housing
Bus
Intr
oduc
tion
4
Solar Sail Blade MaterialProperties
bull Constructed from Aluminum coated Mylar total thickness of 264 m
bull Maximum areal density of 60 g allows for 23 g of support materialbull Blades are stiffened by edge loading the sail with Kapton tapebull Further stiffened by adding tip mass equal to 10 of the total blade mass
Thrust
bull Blades provide 4510-6 N of thrust per based on solar pressure at 1 AU
bull Solar sail will need to accelerate the spacecraft at least 01 mmto be usefulbull For a 6U cubesat weighing approximately 8 kg ~45 deployed area neededbull Two bladed CubeSat with 2U width needs ~350 m blade lengthbull Aspect Ratio of 23331
Tip Mass
KaptonTape
15 cm
Intr
oduc
tion
5
Orbital Operationsbull Blade can pitched in and out of solar
flux to modulate the moment for attitude control and the thrust for orbit control
bull To increasedecrease spacecraft orbit velocity blades must pitch over a 90 degree range
bull Two 90deg pitch maneuvers are performed during 1 LEO orbit to maximize a change in velocity
Blade dynamics need be sensed while in the Earthrsquos shadow
Sun
Blades pitched 90deg parallel to solar pressure
Earth
Blades pitched 90deg perpendicular to solar pressure
Blades hit by solar flux and generate thrust
orbital velocity increases
Blades parallel to solar flux orbital
velocity unchanged
119889119881
120596
120596
120596
120596
Intr
oduc
tion
6
Blade Oscillationsbull A major concern of heliogyro designs is blade oscillation
bull Pitching manuvers and moving blades in and out of solar flux induces twisting and flapping oscillationsbull First modes of these oscillations behave similarly to swinging pendulums
bull Mode shapes are known deflection measurements made at the root can be used to calculate tip deflections
Blade RootBlade Root
Blade TipBlade Tip
Housing
θflapNominalBlade
DeflectedBlade
Flapping
θtwist
Blade Root
Blade Tip
Twisting
Intr
oduc
tion
2
Briefing Overview and Context
bull SPECTRE seeks to design and prototype a sail blade damping augmentation controller for flapping and twisting blade oscillations for a proposed heliogyro CubeSat mission
bull SPECTRE is a continuation of last yearrsquos GHOST senior design project which focused on sail blade deployment and a blade pitching controller
Customer
Dr Keats Wilkie
NASA Langley
Advisor
Dr Xinlin Li
LASP
Department of Aerospace Engineering Sciences CU
Content Breakdown
Introduction
Design Solutions
Verification and Validation
Project Risk
Project Planning
Intr
oduc
tion
3
Heliogyro Backgroundbull Propulsion system using solar radiation
pressure
bull Solar sail ldquobladesrdquo are held in place with centripetal forces
bull Spins similarly to a helicopter
bull Solar pressure instead of air
bull Proposed heliogyros have long blades (gt1 km) but no heliogyro mission has ever flown
bull NASA would like a CubeSat demonstrator
bull GHOST developed a deployment system
bull Pitching was not completed
bull SPECTRE demonstrates the ability to pitch the solar-sail blades and damp oscillations in the blades
Illustration of proposed heliogyro solar sail rendezvous with Halleyrsquos Comet (source NASAJPL)
GHOST 2 Blade CubeSat DesignDimensions 10cm x 20cm x 30cm Blade Dimensions 15cm x ~30m
Housing
Bus
Intr
oduc
tion
4
Solar Sail Blade MaterialProperties
bull Constructed from Aluminum coated Mylar total thickness of 264 m
bull Maximum areal density of 60 g allows for 23 g of support materialbull Blades are stiffened by edge loading the sail with Kapton tapebull Further stiffened by adding tip mass equal to 10 of the total blade mass
Thrust
bull Blades provide 4510-6 N of thrust per based on solar pressure at 1 AU
bull Solar sail will need to accelerate the spacecraft at least 01 mmto be usefulbull For a 6U cubesat weighing approximately 8 kg ~45 deployed area neededbull Two bladed CubeSat with 2U width needs ~350 m blade lengthbull Aspect Ratio of 23331
Tip Mass
KaptonTape
15 cm
Intr
oduc
tion
5
Orbital Operationsbull Blade can pitched in and out of solar
flux to modulate the moment for attitude control and the thrust for orbit control
bull To increasedecrease spacecraft orbit velocity blades must pitch over a 90 degree range
bull Two 90deg pitch maneuvers are performed during 1 LEO orbit to maximize a change in velocity
Blade dynamics need be sensed while in the Earthrsquos shadow
Sun
Blades pitched 90deg parallel to solar pressure
Earth
Blades pitched 90deg perpendicular to solar pressure
Blades hit by solar flux and generate thrust
orbital velocity increases
Blades parallel to solar flux orbital
velocity unchanged
119889119881
120596
120596
120596
120596
Intr
oduc
tion
6
Blade Oscillationsbull A major concern of heliogyro designs is blade oscillation
bull Pitching manuvers and moving blades in and out of solar flux induces twisting and flapping oscillationsbull First modes of these oscillations behave similarly to swinging pendulums
bull Mode shapes are known deflection measurements made at the root can be used to calculate tip deflections
Blade RootBlade Root
Blade TipBlade Tip
Housing
θflapNominalBlade
DeflectedBlade
Flapping
θtwist
Blade Root
Blade Tip
Twisting
Intr
oduc
tion
3
Heliogyro Backgroundbull Propulsion system using solar radiation
pressure
bull Solar sail ldquobladesrdquo are held in place with centripetal forces
bull Spins similarly to a helicopter
bull Solar pressure instead of air
bull Proposed heliogyros have long blades (gt1 km) but no heliogyro mission has ever flown
bull NASA would like a CubeSat demonstrator
bull GHOST developed a deployment system
bull Pitching was not completed
bull SPECTRE demonstrates the ability to pitch the solar-sail blades and damp oscillations in the blades
Illustration of proposed heliogyro solar sail rendezvous with Halleyrsquos Comet (source NASAJPL)
GHOST 2 Blade CubeSat DesignDimensions 10cm x 20cm x 30cm Blade Dimensions 15cm x ~30m
Housing
Bus
Intr
oduc
tion
4
Solar Sail Blade MaterialProperties
bull Constructed from Aluminum coated Mylar total thickness of 264 m
bull Maximum areal density of 60 g allows for 23 g of support materialbull Blades are stiffened by edge loading the sail with Kapton tapebull Further stiffened by adding tip mass equal to 10 of the total blade mass
Thrust
bull Blades provide 4510-6 N of thrust per based on solar pressure at 1 AU
bull Solar sail will need to accelerate the spacecraft at least 01 mmto be usefulbull For a 6U cubesat weighing approximately 8 kg ~45 deployed area neededbull Two bladed CubeSat with 2U width needs ~350 m blade lengthbull Aspect Ratio of 23331
Tip Mass
KaptonTape
15 cm
Intr
oduc
tion
5
Orbital Operationsbull Blade can pitched in and out of solar
flux to modulate the moment for attitude control and the thrust for orbit control
bull To increasedecrease spacecraft orbit velocity blades must pitch over a 90 degree range
bull Two 90deg pitch maneuvers are performed during 1 LEO orbit to maximize a change in velocity
Blade dynamics need be sensed while in the Earthrsquos shadow
Sun
Blades pitched 90deg parallel to solar pressure
Earth
Blades pitched 90deg perpendicular to solar pressure
Blades hit by solar flux and generate thrust
orbital velocity increases
Blades parallel to solar flux orbital
velocity unchanged
119889119881
120596
120596
120596
120596
Intr
oduc
tion
6
Blade Oscillationsbull A major concern of heliogyro designs is blade oscillation
bull Pitching manuvers and moving blades in and out of solar flux induces twisting and flapping oscillationsbull First modes of these oscillations behave similarly to swinging pendulums
bull Mode shapes are known deflection measurements made at the root can be used to calculate tip deflections
Blade RootBlade Root
Blade TipBlade Tip
Housing
θflapNominalBlade
DeflectedBlade
Flapping
θtwist
Blade Root
Blade Tip
Twisting
Intr
oduc
tion
4
Solar Sail Blade MaterialProperties
bull Constructed from Aluminum coated Mylar total thickness of 264 m
bull Maximum areal density of 60 g allows for 23 g of support materialbull Blades are stiffened by edge loading the sail with Kapton tapebull Further stiffened by adding tip mass equal to 10 of the total blade mass
Thrust
bull Blades provide 4510-6 N of thrust per based on solar pressure at 1 AU
bull Solar sail will need to accelerate the spacecraft at least 01 mmto be usefulbull For a 6U cubesat weighing approximately 8 kg ~45 deployed area neededbull Two bladed CubeSat with 2U width needs ~350 m blade lengthbull Aspect Ratio of 23331
Tip Mass
KaptonTape
15 cm
Intr
oduc
tion
5
Orbital Operationsbull Blade can pitched in and out of solar
flux to modulate the moment for attitude control and the thrust for orbit control
bull To increasedecrease spacecraft orbit velocity blades must pitch over a 90 degree range
bull Two 90deg pitch maneuvers are performed during 1 LEO orbit to maximize a change in velocity
Blade dynamics need be sensed while in the Earthrsquos shadow
Sun
Blades pitched 90deg parallel to solar pressure
Earth
Blades pitched 90deg perpendicular to solar pressure
Blades hit by solar flux and generate thrust
orbital velocity increases
Blades parallel to solar flux orbital
velocity unchanged
119889119881
120596
120596
120596
120596
Intr
oduc
tion
6
Blade Oscillationsbull A major concern of heliogyro designs is blade oscillation
bull Pitching manuvers and moving blades in and out of solar flux induces twisting and flapping oscillationsbull First modes of these oscillations behave similarly to swinging pendulums
bull Mode shapes are known deflection measurements made at the root can be used to calculate tip deflections
Blade RootBlade Root
Blade TipBlade Tip
Housing
θflapNominalBlade
DeflectedBlade
Flapping
θtwist
Blade Root
Blade Tip
Twisting
Intr
oduc
tion
5
Orbital Operationsbull Blade can pitched in and out of solar
flux to modulate the moment for attitude control and the thrust for orbit control
bull To increasedecrease spacecraft orbit velocity blades must pitch over a 90 degree range
bull Two 90deg pitch maneuvers are performed during 1 LEO orbit to maximize a change in velocity
Blade dynamics need be sensed while in the Earthrsquos shadow
Sun
Blades pitched 90deg parallel to solar pressure
Earth
Blades pitched 90deg perpendicular to solar pressure
Blades hit by solar flux and generate thrust
orbital velocity increases
Blades parallel to solar flux orbital
velocity unchanged
119889119881
120596
120596
120596
120596
Intr
oduc
tion
6
Blade Oscillationsbull A major concern of heliogyro designs is blade oscillation
bull Pitching manuvers and moving blades in and out of solar flux induces twisting and flapping oscillationsbull First modes of these oscillations behave similarly to swinging pendulums
bull Mode shapes are known deflection measurements made at the root can be used to calculate tip deflections
Blade RootBlade Root
Blade TipBlade Tip
Housing
θflapNominalBlade
DeflectedBlade
Flapping
θtwist
Blade Root
Blade Tip
Twisting
Intr
oduc
tion
6
Blade Oscillationsbull A major concern of heliogyro designs is blade oscillation
bull Pitching manuvers and moving blades in and out of solar flux induces twisting and flapping oscillationsbull First modes of these oscillations behave similarly to swinging pendulums
bull Mode shapes are known deflection measurements made at the root can be used to calculate tip deflections
Blade RootBlade Root
Blade TipBlade Tip
Housing
θflapNominalBlade
DeflectedBlade
Flapping
θtwist
Blade Root
Blade Tip
Twisting
Intr
oduc
tion
7
Mode FrequenciesEarth Behavior
bull Flapping Mode Frequenecy can be approximated as a pendulum
bull Period Depends on the bladersquos mass (M) moment of inertia (I) and center of gravity (R) measured from the blade root g remains constant for Earth testing
bull
bull The torsional mode is best estimated from the flapping mode
bull
Space Behaviorbull Frequencies directly tied to spacecraft angular
velocity
bull Angular velocities of proposed heliogyro missions typically ~13 RPM
120596
Based on the expected mode frequencies for space operations and the constraints of Heliogyro missions the controller is required to demonstrate a damping ratio of 00136
Intr
oduc
tion
8
Testing Constraintsbull Full scale blade cannot be built or tested
bull 22 meter blade analog will be used to simulate space environment
bull Controller can still be validated by showing it can function with blade conditions similar to those seen in space
bull Graviational forces will be present during testing
bull Centripetal force of the spinning spacecraft will be simulated with these gravitational forces
bull Air viscosity will contribute to damping
bull Damping provided by the controller will need to be distinguishable from damping provided by air
Intr
oduc
tion
9
Blade Controller RequirementsController housing must be able to accommodate one blade capable of providing useful acceleration (~350 m in length)
Controller must be able to pitch blades to plusmn 90deg with plusmn 5deg of accuracy
Controller must demonstrate a damping ratios for flapping and twisting modes of
Controller must be capable of sensing blade deflections without an ambient light source
Controller and blade occupy 2U of volume (10cm x 10cm x 20cm)
Controller must run on approximately 5 watts of power
Controller must conform to Cubesat weight requirement ~13 kgU total of 26 kg
Intr
oduc
tion
10
Design Solutionbull Blade housing can accommodate a
blade of 15 cm by 350 mbull Rotational actuator with a range of
motion of 360degbull Camera senses motion of blade
bull Closed loop controller damps oscillations
bull Linear actuator provides damping ratio of 00077 for flapping mode
bull Rotational actuator provides damping ratio of 0015 for twisting mode
bull LED near camera for low light conditionsbull Blade housing has 14U volume
electronics require 04U in CubeSat busbull Total of 18U
bull System requires 20 Wbull Total mass of 2 kg
Intr
oduc
tion
11
Blade Housing
Linear Actuator
Camera
Image Processor
Blade Analogue
7 cm
10 cm
20 cm
Intr
oduc
tion
12
CubeSat Bus
Microcontroller
Actuator Drivers
Rotational Actuator
Dimensions in cm
Intr
oduc
tion
13
Rope Ladder Analogbull Current heliogyro reseach uses a rope ladder assumption to
investigate blade dynamicsbull Extremely thin sail material (264 thickness) has negligible internal forcesbull Assumes the sail blade material has no stiffness or internal damping
bull Rope ladder assumption allows for blades to be constructed from support materials alone for blade testingbull Reduction in surface area results in less damping being provided by airbull 22 meters in length
Rope Ladder Blade Diagram Regular Sail Blade KaptonTape
Tip Mass
15 cm
Tip Mass
15 cm
StringWireBlade Skeleton
Intr
oduc
tion
14
FBDBlade Housing
CubeSat Bus
Power Supply
LabVIEW VI(CubeSat processor)
Rotational Actuator
Linear Actuator
Camera
LED
Gum
stix
Arduino Due
Actuator Drivers
Mode Angle Rate (UART)Images
Voltage
Voltage
RS232 instructions
Angle Logic (UART)
Blade
Linear Motion
Pitching Motion
Legend
- Power
- Data
- Command
s
- Motion6 V
6 V
6 V
5 V
9 V
gt1 V
18 V
Intr
oduc
tion
15
Intr
oduc
tion
16
CPEs
bull Control Law
bull Actuators
bull Sensing
bull Electronics
Control Law
Con
trol
Law
18
Control Law Introduction
bull Control Law adds damping by moving the root based on movements at the tip of the solar sail
bull Control Law sets the requirements for the system Minimum resolution of the cameras Minimum range of motion (linearrotary) Minimum resolution of the actuators (linearrotary) Maximum computational time Minimum required acceleration
Con
trol
Law
19
Requirements For SensorsLinear sensor Rotary sensor
Minimum Sampling Rate
frac12 second frac12 second
Resolution gt5 degree gt5 degree
Con
trol
Law
20
Requirements For ActuatorsLinear Actuator Rotary
Actuator
Range of Motion +- 13 cm +- 90 degrees
Resolution 15 mm 3 degrees
Maximum acceleration
08 ms^2 10 rads^2
Con
trol
Law
21
Requirements For Computational Time
Twisting mode Flapping Mode
Max Computational Time frac14 second frac14 second
Con
trol
Law
22
Summary of the Control Law Flapping (Linear Motion)
Twisting(Angular Motion)
Sensor resolution frac12 second frac12 second
Actuator range of motion
+- 13 cm +- 90 degrees
Actuator resolution 15 mm 3 degrees
Maximum Acceleration
08 ms^2 126 rads^2
Max computational Time
frac14 second frac14 second
Actuators
Act
uato
rs
24
Actuation Design Front View Deployed Blade
Top View Deployed Blade Back View
3-D View
LinearActuator
RotaryActuator
Act
uato
rs
25
Mass Budget
Subsystem
Components Mass
Structural 5 ndash 18rdquo Aluminum plates (Machined)
330g
Electronics -2 drivers- Arduino
30g35g35g
Actuators -Rotary motor w Encoder 50g
Mechanical -Bevel Gear-Mounting components
30g75g
Total Mass 585g
Full Assembly
Rear unit
65 cm
3 cm
05 cm
Rear Housing Back View
Motor Drivers
Arduino
Aluminum Plates
Bevel Gear
Electrical Wiring
Rotary Motor
3 cm 3 cm
10 cm
Rear Housing Side View
20 cm
10 cm
Rotary Motor w Encoder Bevel Gear
Mounting Components
Electrical Wiring
Wiring Through Hollow Rod
Act
uato
rs
26
Rotary Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionServo Motor w Encoder
+- 90o rotation Customer 360o motion reversible
Torque gt 16 mNm Control Law Continuous torque w 21 Gear Ratio 22 mNm
Minimum Resolution lt 3o
Control Law Encoder 036o
Fit within rear housing unit lt 5 cm axial length lt 3 cm diameter
Design 35 cm axial length22 cm diameter
Act
uato
rs
27
Mass Budget
Subsystem
Components Mass
Structural 5ndash 18rdquo Aluminum plates (Machined)
360g
Electronics -Image Processor
-Expansion Board
-Camera
15g
30g
30g
Actuators -Linear motor 20g
Mechanical -Linear Guide System
-Mounting Components
-Spool and Rolled Blade
60g
50g
300g
Total Mass 820g
Full Assembly
Front unit65 cm
3 cm
05 cm
Front View Undeployed Blade
Image ProcessorExpansion Board Camera
Linear Guide System
Linear Actuator
Spool and Rolled Blade
10 cm
20 cm
1 cm
3 cm
3 cm
1 cm
3 cm
3 cm
25 cm
Electrical WiringTo ArduinoElectrical Wiring to Image Processor
Electrical Wiring to DriverFront View Deployed Blade
Deployed Blade
Act
uato
rs
28
Linear Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionLinear Servo Motor
Range of Motion +- 25 cm
Control Law Range of Motion +- 40 cm
Precision 45 mm Control Law Precision 004 mm
Velocity 31 cms Control Law Velocity 80 cms continuous
Force gt 053Nm Control Law Force 103 N continuous
Horizontal Length lt 25 mmAxial Length lt 93 mm
Design Horizontal Length 8 mmAxial Length 82 mm
Act
uato
rs
29
Mass Budget Housing Interface Assembly
Subsystem Components Mass
Mechanical -Hollow Precision Rod-Radial Bearing
-Turntable Bearing
-Mounting Components(Machined)
10 g
20g
30g
50g
Total Mass 110g
Requirement Design
Mass less than 26 kg
Total Mass 17 kg
Volume gt= 2U Total Volume 2U
Design Requirements
50 cm
318 cm
318 cm
1111 cm 4695 cm
75 cm
Electrical wires
Sensing
Sen
sing
31
Sensor Design
Camera is mounted inside the blade housing pointed towards one surface of the blade
Reflective tape will be placed on the blade facing the camera and will be illuminated via LEDs mounted to blade housing
Image processing algorithm will locate the center of the reflective tape within the camera frame and compare the location against the known position of the sensing point at no deflection
Blade will move between +- 20 degress for flapping oscillation and between +- 90 degrees for twsiting oscillation
Sen
sing
32
Camera Requirements and Selection
θmin= 5deg
θrange= 40deg
Camera Requirement Parent Requirement
Caspa VL
Field of View gt 436deg x 10deg
Blade Range of Motion
786deg x 593deg(752x480 Pixels)
Pixel Density gt 2 pixelsdegFOV
Blade Range of Motion
95 pixelsdegFOV
Frame Rate gt 2 fps Control Law 60 fps
Width = 257 cm
Length = 39 cm
Sen
sing
33
Range of Motion - Markers
ProcessedImage
Flap ModeMarkers movesame direction
Nominal marker
positions
Marker position at 20deg flap
ProcessedImage
Twist ModeMarkers move
opposite directions
Nominal marker
positions
Marker position at 90deg twist
The green box outlines the section of the image that needs to be processed It encompases a total area of 015 Megapixels
Deflection Angles
θtwist= +- 90deg θtwist per pixel= 106deg
θflap = +- 20deg θflap per pixel= 011deg
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Intr
oduc
tion
8
Testing Constraintsbull Full scale blade cannot be built or tested
bull 22 meter blade analog will be used to simulate space environment
bull Controller can still be validated by showing it can function with blade conditions similar to those seen in space
bull Graviational forces will be present during testing
bull Centripetal force of the spinning spacecraft will be simulated with these gravitational forces
bull Air viscosity will contribute to damping
bull Damping provided by the controller will need to be distinguishable from damping provided by air
Intr
oduc
tion
9
Blade Controller RequirementsController housing must be able to accommodate one blade capable of providing useful acceleration (~350 m in length)
Controller must be able to pitch blades to plusmn 90deg with plusmn 5deg of accuracy
Controller must demonstrate a damping ratios for flapping and twisting modes of
Controller must be capable of sensing blade deflections without an ambient light source
Controller and blade occupy 2U of volume (10cm x 10cm x 20cm)
Controller must run on approximately 5 watts of power
Controller must conform to Cubesat weight requirement ~13 kgU total of 26 kg
Intr
oduc
tion
10
Design Solutionbull Blade housing can accommodate a
blade of 15 cm by 350 mbull Rotational actuator with a range of
motion of 360degbull Camera senses motion of blade
bull Closed loop controller damps oscillations
bull Linear actuator provides damping ratio of 00077 for flapping mode
bull Rotational actuator provides damping ratio of 0015 for twisting mode
bull LED near camera for low light conditionsbull Blade housing has 14U volume
electronics require 04U in CubeSat busbull Total of 18U
bull System requires 20 Wbull Total mass of 2 kg
Intr
oduc
tion
11
Blade Housing
Linear Actuator
Camera
Image Processor
Blade Analogue
7 cm
10 cm
20 cm
Intr
oduc
tion
12
CubeSat Bus
Microcontroller
Actuator Drivers
Rotational Actuator
Dimensions in cm
Intr
oduc
tion
13
Rope Ladder Analogbull Current heliogyro reseach uses a rope ladder assumption to
investigate blade dynamicsbull Extremely thin sail material (264 thickness) has negligible internal forcesbull Assumes the sail blade material has no stiffness or internal damping
bull Rope ladder assumption allows for blades to be constructed from support materials alone for blade testingbull Reduction in surface area results in less damping being provided by airbull 22 meters in length
Rope Ladder Blade Diagram Regular Sail Blade KaptonTape
Tip Mass
15 cm
Tip Mass
15 cm
StringWireBlade Skeleton
Intr
oduc
tion
14
FBDBlade Housing
CubeSat Bus
Power Supply
LabVIEW VI(CubeSat processor)
Rotational Actuator
Linear Actuator
Camera
LED
Gum
stix
Arduino Due
Actuator Drivers
Mode Angle Rate (UART)Images
Voltage
Voltage
RS232 instructions
Angle Logic (UART)
Blade
Linear Motion
Pitching Motion
Legend
- Power
- Data
- Command
s
- Motion6 V
6 V
6 V
5 V
9 V
gt1 V
18 V
Intr
oduc
tion
15
Intr
oduc
tion
16
CPEs
bull Control Law
bull Actuators
bull Sensing
bull Electronics
Control Law
Con
trol
Law
18
Control Law Introduction
bull Control Law adds damping by moving the root based on movements at the tip of the solar sail
bull Control Law sets the requirements for the system Minimum resolution of the cameras Minimum range of motion (linearrotary) Minimum resolution of the actuators (linearrotary) Maximum computational time Minimum required acceleration
Con
trol
Law
19
Requirements For SensorsLinear sensor Rotary sensor
Minimum Sampling Rate
frac12 second frac12 second
Resolution gt5 degree gt5 degree
Con
trol
Law
20
Requirements For ActuatorsLinear Actuator Rotary
Actuator
Range of Motion +- 13 cm +- 90 degrees
Resolution 15 mm 3 degrees
Maximum acceleration
08 ms^2 10 rads^2
Con
trol
Law
21
Requirements For Computational Time
Twisting mode Flapping Mode
Max Computational Time frac14 second frac14 second
Con
trol
Law
22
Summary of the Control Law Flapping (Linear Motion)
Twisting(Angular Motion)
Sensor resolution frac12 second frac12 second
Actuator range of motion
+- 13 cm +- 90 degrees
Actuator resolution 15 mm 3 degrees
Maximum Acceleration
08 ms^2 126 rads^2
Max computational Time
frac14 second frac14 second
Actuators
Act
uato
rs
24
Actuation Design Front View Deployed Blade
Top View Deployed Blade Back View
3-D View
LinearActuator
RotaryActuator
Act
uato
rs
25
Mass Budget
Subsystem
Components Mass
Structural 5 ndash 18rdquo Aluminum plates (Machined)
330g
Electronics -2 drivers- Arduino
30g35g35g
Actuators -Rotary motor w Encoder 50g
Mechanical -Bevel Gear-Mounting components
30g75g
Total Mass 585g
Full Assembly
Rear unit
65 cm
3 cm
05 cm
Rear Housing Back View
Motor Drivers
Arduino
Aluminum Plates
Bevel Gear
Electrical Wiring
Rotary Motor
3 cm 3 cm
10 cm
Rear Housing Side View
20 cm
10 cm
Rotary Motor w Encoder Bevel Gear
Mounting Components
Electrical Wiring
Wiring Through Hollow Rod
Act
uato
rs
26
Rotary Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionServo Motor w Encoder
+- 90o rotation Customer 360o motion reversible
Torque gt 16 mNm Control Law Continuous torque w 21 Gear Ratio 22 mNm
Minimum Resolution lt 3o
Control Law Encoder 036o
Fit within rear housing unit lt 5 cm axial length lt 3 cm diameter
Design 35 cm axial length22 cm diameter
Act
uato
rs
27
Mass Budget
Subsystem
Components Mass
Structural 5ndash 18rdquo Aluminum plates (Machined)
360g
Electronics -Image Processor
-Expansion Board
-Camera
15g
30g
30g
Actuators -Linear motor 20g
Mechanical -Linear Guide System
-Mounting Components
-Spool and Rolled Blade
60g
50g
300g
Total Mass 820g
Full Assembly
Front unit65 cm
3 cm
05 cm
Front View Undeployed Blade
Image ProcessorExpansion Board Camera
Linear Guide System
Linear Actuator
Spool and Rolled Blade
10 cm
20 cm
1 cm
3 cm
3 cm
1 cm
3 cm
3 cm
25 cm
Electrical WiringTo ArduinoElectrical Wiring to Image Processor
Electrical Wiring to DriverFront View Deployed Blade
Deployed Blade
Act
uato
rs
28
Linear Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionLinear Servo Motor
Range of Motion +- 25 cm
Control Law Range of Motion +- 40 cm
Precision 45 mm Control Law Precision 004 mm
Velocity 31 cms Control Law Velocity 80 cms continuous
Force gt 053Nm Control Law Force 103 N continuous
Horizontal Length lt 25 mmAxial Length lt 93 mm
Design Horizontal Length 8 mmAxial Length 82 mm
Act
uato
rs
29
Mass Budget Housing Interface Assembly
Subsystem Components Mass
Mechanical -Hollow Precision Rod-Radial Bearing
-Turntable Bearing
-Mounting Components(Machined)
10 g
20g
30g
50g
Total Mass 110g
Requirement Design
Mass less than 26 kg
Total Mass 17 kg
Volume gt= 2U Total Volume 2U
Design Requirements
50 cm
318 cm
318 cm
1111 cm 4695 cm
75 cm
Electrical wires
Sensing
Sen
sing
31
Sensor Design
Camera is mounted inside the blade housing pointed towards one surface of the blade
Reflective tape will be placed on the blade facing the camera and will be illuminated via LEDs mounted to blade housing
Image processing algorithm will locate the center of the reflective tape within the camera frame and compare the location against the known position of the sensing point at no deflection
Blade will move between +- 20 degress for flapping oscillation and between +- 90 degrees for twsiting oscillation
Sen
sing
32
Camera Requirements and Selection
θmin= 5deg
θrange= 40deg
Camera Requirement Parent Requirement
Caspa VL
Field of View gt 436deg x 10deg
Blade Range of Motion
786deg x 593deg(752x480 Pixels)
Pixel Density gt 2 pixelsdegFOV
Blade Range of Motion
95 pixelsdegFOV
Frame Rate gt 2 fps Control Law 60 fps
Width = 257 cm
Length = 39 cm
Sen
sing
33
Range of Motion - Markers
ProcessedImage
Flap ModeMarkers movesame direction
Nominal marker
positions
Marker position at 20deg flap
ProcessedImage
Twist ModeMarkers move
opposite directions
Nominal marker
positions
Marker position at 90deg twist
The green box outlines the section of the image that needs to be processed It encompases a total area of 015 Megapixels
Deflection Angles
θtwist= +- 90deg θtwist per pixel= 106deg
θflap = +- 20deg θflap per pixel= 011deg
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Intr
oduc
tion
9
Blade Controller RequirementsController housing must be able to accommodate one blade capable of providing useful acceleration (~350 m in length)
Controller must be able to pitch blades to plusmn 90deg with plusmn 5deg of accuracy
Controller must demonstrate a damping ratios for flapping and twisting modes of
Controller must be capable of sensing blade deflections without an ambient light source
Controller and blade occupy 2U of volume (10cm x 10cm x 20cm)
Controller must run on approximately 5 watts of power
Controller must conform to Cubesat weight requirement ~13 kgU total of 26 kg
Intr
oduc
tion
10
Design Solutionbull Blade housing can accommodate a
blade of 15 cm by 350 mbull Rotational actuator with a range of
motion of 360degbull Camera senses motion of blade
bull Closed loop controller damps oscillations
bull Linear actuator provides damping ratio of 00077 for flapping mode
bull Rotational actuator provides damping ratio of 0015 for twisting mode
bull LED near camera for low light conditionsbull Blade housing has 14U volume
electronics require 04U in CubeSat busbull Total of 18U
bull System requires 20 Wbull Total mass of 2 kg
Intr
oduc
tion
11
Blade Housing
Linear Actuator
Camera
Image Processor
Blade Analogue
7 cm
10 cm
20 cm
Intr
oduc
tion
12
CubeSat Bus
Microcontroller
Actuator Drivers
Rotational Actuator
Dimensions in cm
Intr
oduc
tion
13
Rope Ladder Analogbull Current heliogyro reseach uses a rope ladder assumption to
investigate blade dynamicsbull Extremely thin sail material (264 thickness) has negligible internal forcesbull Assumes the sail blade material has no stiffness or internal damping
bull Rope ladder assumption allows for blades to be constructed from support materials alone for blade testingbull Reduction in surface area results in less damping being provided by airbull 22 meters in length
Rope Ladder Blade Diagram Regular Sail Blade KaptonTape
Tip Mass
15 cm
Tip Mass
15 cm
StringWireBlade Skeleton
Intr
oduc
tion
14
FBDBlade Housing
CubeSat Bus
Power Supply
LabVIEW VI(CubeSat processor)
Rotational Actuator
Linear Actuator
Camera
LED
Gum
stix
Arduino Due
Actuator Drivers
Mode Angle Rate (UART)Images
Voltage
Voltage
RS232 instructions
Angle Logic (UART)
Blade
Linear Motion
Pitching Motion
Legend
- Power
- Data
- Command
s
- Motion6 V
6 V
6 V
5 V
9 V
gt1 V
18 V
Intr
oduc
tion
15
Intr
oduc
tion
16
CPEs
bull Control Law
bull Actuators
bull Sensing
bull Electronics
Control Law
Con
trol
Law
18
Control Law Introduction
bull Control Law adds damping by moving the root based on movements at the tip of the solar sail
bull Control Law sets the requirements for the system Minimum resolution of the cameras Minimum range of motion (linearrotary) Minimum resolution of the actuators (linearrotary) Maximum computational time Minimum required acceleration
Con
trol
Law
19
Requirements For SensorsLinear sensor Rotary sensor
Minimum Sampling Rate
frac12 second frac12 second
Resolution gt5 degree gt5 degree
Con
trol
Law
20
Requirements For ActuatorsLinear Actuator Rotary
Actuator
Range of Motion +- 13 cm +- 90 degrees
Resolution 15 mm 3 degrees
Maximum acceleration
08 ms^2 10 rads^2
Con
trol
Law
21
Requirements For Computational Time
Twisting mode Flapping Mode
Max Computational Time frac14 second frac14 second
Con
trol
Law
22
Summary of the Control Law Flapping (Linear Motion)
Twisting(Angular Motion)
Sensor resolution frac12 second frac12 second
Actuator range of motion
+- 13 cm +- 90 degrees
Actuator resolution 15 mm 3 degrees
Maximum Acceleration
08 ms^2 126 rads^2
Max computational Time
frac14 second frac14 second
Actuators
Act
uato
rs
24
Actuation Design Front View Deployed Blade
Top View Deployed Blade Back View
3-D View
LinearActuator
RotaryActuator
Act
uato
rs
25
Mass Budget
Subsystem
Components Mass
Structural 5 ndash 18rdquo Aluminum plates (Machined)
330g
Electronics -2 drivers- Arduino
30g35g35g
Actuators -Rotary motor w Encoder 50g
Mechanical -Bevel Gear-Mounting components
30g75g
Total Mass 585g
Full Assembly
Rear unit
65 cm
3 cm
05 cm
Rear Housing Back View
Motor Drivers
Arduino
Aluminum Plates
Bevel Gear
Electrical Wiring
Rotary Motor
3 cm 3 cm
10 cm
Rear Housing Side View
20 cm
10 cm
Rotary Motor w Encoder Bevel Gear
Mounting Components
Electrical Wiring
Wiring Through Hollow Rod
Act
uato
rs
26
Rotary Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionServo Motor w Encoder
+- 90o rotation Customer 360o motion reversible
Torque gt 16 mNm Control Law Continuous torque w 21 Gear Ratio 22 mNm
Minimum Resolution lt 3o
Control Law Encoder 036o
Fit within rear housing unit lt 5 cm axial length lt 3 cm diameter
Design 35 cm axial length22 cm diameter
Act
uato
rs
27
Mass Budget
Subsystem
Components Mass
Structural 5ndash 18rdquo Aluminum plates (Machined)
360g
Electronics -Image Processor
-Expansion Board
-Camera
15g
30g
30g
Actuators -Linear motor 20g
Mechanical -Linear Guide System
-Mounting Components
-Spool and Rolled Blade
60g
50g
300g
Total Mass 820g
Full Assembly
Front unit65 cm
3 cm
05 cm
Front View Undeployed Blade
Image ProcessorExpansion Board Camera
Linear Guide System
Linear Actuator
Spool and Rolled Blade
10 cm
20 cm
1 cm
3 cm
3 cm
1 cm
3 cm
3 cm
25 cm
Electrical WiringTo ArduinoElectrical Wiring to Image Processor
Electrical Wiring to DriverFront View Deployed Blade
Deployed Blade
Act
uato
rs
28
Linear Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionLinear Servo Motor
Range of Motion +- 25 cm
Control Law Range of Motion +- 40 cm
Precision 45 mm Control Law Precision 004 mm
Velocity 31 cms Control Law Velocity 80 cms continuous
Force gt 053Nm Control Law Force 103 N continuous
Horizontal Length lt 25 mmAxial Length lt 93 mm
Design Horizontal Length 8 mmAxial Length 82 mm
Act
uato
rs
29
Mass Budget Housing Interface Assembly
Subsystem Components Mass
Mechanical -Hollow Precision Rod-Radial Bearing
-Turntable Bearing
-Mounting Components(Machined)
10 g
20g
30g
50g
Total Mass 110g
Requirement Design
Mass less than 26 kg
Total Mass 17 kg
Volume gt= 2U Total Volume 2U
Design Requirements
50 cm
318 cm
318 cm
1111 cm 4695 cm
75 cm
Electrical wires
Sensing
Sen
sing
31
Sensor Design
Camera is mounted inside the blade housing pointed towards one surface of the blade
Reflective tape will be placed on the blade facing the camera and will be illuminated via LEDs mounted to blade housing
Image processing algorithm will locate the center of the reflective tape within the camera frame and compare the location against the known position of the sensing point at no deflection
Blade will move between +- 20 degress for flapping oscillation and between +- 90 degrees for twsiting oscillation
Sen
sing
32
Camera Requirements and Selection
θmin= 5deg
θrange= 40deg
Camera Requirement Parent Requirement
Caspa VL
Field of View gt 436deg x 10deg
Blade Range of Motion
786deg x 593deg(752x480 Pixels)
Pixel Density gt 2 pixelsdegFOV
Blade Range of Motion
95 pixelsdegFOV
Frame Rate gt 2 fps Control Law 60 fps
Width = 257 cm
Length = 39 cm
Sen
sing
33
Range of Motion - Markers
ProcessedImage
Flap ModeMarkers movesame direction
Nominal marker
positions
Marker position at 20deg flap
ProcessedImage
Twist ModeMarkers move
opposite directions
Nominal marker
positions
Marker position at 90deg twist
The green box outlines the section of the image that needs to be processed It encompases a total area of 015 Megapixels
Deflection Angles
θtwist= +- 90deg θtwist per pixel= 106deg
θflap = +- 20deg θflap per pixel= 011deg
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Intr
oduc
tion
10
Design Solutionbull Blade housing can accommodate a
blade of 15 cm by 350 mbull Rotational actuator with a range of
motion of 360degbull Camera senses motion of blade
bull Closed loop controller damps oscillations
bull Linear actuator provides damping ratio of 00077 for flapping mode
bull Rotational actuator provides damping ratio of 0015 for twisting mode
bull LED near camera for low light conditionsbull Blade housing has 14U volume
electronics require 04U in CubeSat busbull Total of 18U
bull System requires 20 Wbull Total mass of 2 kg
Intr
oduc
tion
11
Blade Housing
Linear Actuator
Camera
Image Processor
Blade Analogue
7 cm
10 cm
20 cm
Intr
oduc
tion
12
CubeSat Bus
Microcontroller
Actuator Drivers
Rotational Actuator
Dimensions in cm
Intr
oduc
tion
13
Rope Ladder Analogbull Current heliogyro reseach uses a rope ladder assumption to
investigate blade dynamicsbull Extremely thin sail material (264 thickness) has negligible internal forcesbull Assumes the sail blade material has no stiffness or internal damping
bull Rope ladder assumption allows for blades to be constructed from support materials alone for blade testingbull Reduction in surface area results in less damping being provided by airbull 22 meters in length
Rope Ladder Blade Diagram Regular Sail Blade KaptonTape
Tip Mass
15 cm
Tip Mass
15 cm
StringWireBlade Skeleton
Intr
oduc
tion
14
FBDBlade Housing
CubeSat Bus
Power Supply
LabVIEW VI(CubeSat processor)
Rotational Actuator
Linear Actuator
Camera
LED
Gum
stix
Arduino Due
Actuator Drivers
Mode Angle Rate (UART)Images
Voltage
Voltage
RS232 instructions
Angle Logic (UART)
Blade
Linear Motion
Pitching Motion
Legend
- Power
- Data
- Command
s
- Motion6 V
6 V
6 V
5 V
9 V
gt1 V
18 V
Intr
oduc
tion
15
Intr
oduc
tion
16
CPEs
bull Control Law
bull Actuators
bull Sensing
bull Electronics
Control Law
Con
trol
Law
18
Control Law Introduction
bull Control Law adds damping by moving the root based on movements at the tip of the solar sail
bull Control Law sets the requirements for the system Minimum resolution of the cameras Minimum range of motion (linearrotary) Minimum resolution of the actuators (linearrotary) Maximum computational time Minimum required acceleration
Con
trol
Law
19
Requirements For SensorsLinear sensor Rotary sensor
Minimum Sampling Rate
frac12 second frac12 second
Resolution gt5 degree gt5 degree
Con
trol
Law
20
Requirements For ActuatorsLinear Actuator Rotary
Actuator
Range of Motion +- 13 cm +- 90 degrees
Resolution 15 mm 3 degrees
Maximum acceleration
08 ms^2 10 rads^2
Con
trol
Law
21
Requirements For Computational Time
Twisting mode Flapping Mode
Max Computational Time frac14 second frac14 second
Con
trol
Law
22
Summary of the Control Law Flapping (Linear Motion)
Twisting(Angular Motion)
Sensor resolution frac12 second frac12 second
Actuator range of motion
+- 13 cm +- 90 degrees
Actuator resolution 15 mm 3 degrees
Maximum Acceleration
08 ms^2 126 rads^2
Max computational Time
frac14 second frac14 second
Actuators
Act
uato
rs
24
Actuation Design Front View Deployed Blade
Top View Deployed Blade Back View
3-D View
LinearActuator
RotaryActuator
Act
uato
rs
25
Mass Budget
Subsystem
Components Mass
Structural 5 ndash 18rdquo Aluminum plates (Machined)
330g
Electronics -2 drivers- Arduino
30g35g35g
Actuators -Rotary motor w Encoder 50g
Mechanical -Bevel Gear-Mounting components
30g75g
Total Mass 585g
Full Assembly
Rear unit
65 cm
3 cm
05 cm
Rear Housing Back View
Motor Drivers
Arduino
Aluminum Plates
Bevel Gear
Electrical Wiring
Rotary Motor
3 cm 3 cm
10 cm
Rear Housing Side View
20 cm
10 cm
Rotary Motor w Encoder Bevel Gear
Mounting Components
Electrical Wiring
Wiring Through Hollow Rod
Act
uato
rs
26
Rotary Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionServo Motor w Encoder
+- 90o rotation Customer 360o motion reversible
Torque gt 16 mNm Control Law Continuous torque w 21 Gear Ratio 22 mNm
Minimum Resolution lt 3o
Control Law Encoder 036o
Fit within rear housing unit lt 5 cm axial length lt 3 cm diameter
Design 35 cm axial length22 cm diameter
Act
uato
rs
27
Mass Budget
Subsystem
Components Mass
Structural 5ndash 18rdquo Aluminum plates (Machined)
360g
Electronics -Image Processor
-Expansion Board
-Camera
15g
30g
30g
Actuators -Linear motor 20g
Mechanical -Linear Guide System
-Mounting Components
-Spool and Rolled Blade
60g
50g
300g
Total Mass 820g
Full Assembly
Front unit65 cm
3 cm
05 cm
Front View Undeployed Blade
Image ProcessorExpansion Board Camera
Linear Guide System
Linear Actuator
Spool and Rolled Blade
10 cm
20 cm
1 cm
3 cm
3 cm
1 cm
3 cm
3 cm
25 cm
Electrical WiringTo ArduinoElectrical Wiring to Image Processor
Electrical Wiring to DriverFront View Deployed Blade
Deployed Blade
Act
uato
rs
28
Linear Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionLinear Servo Motor
Range of Motion +- 25 cm
Control Law Range of Motion +- 40 cm
Precision 45 mm Control Law Precision 004 mm
Velocity 31 cms Control Law Velocity 80 cms continuous
Force gt 053Nm Control Law Force 103 N continuous
Horizontal Length lt 25 mmAxial Length lt 93 mm
Design Horizontal Length 8 mmAxial Length 82 mm
Act
uato
rs
29
Mass Budget Housing Interface Assembly
Subsystem Components Mass
Mechanical -Hollow Precision Rod-Radial Bearing
-Turntable Bearing
-Mounting Components(Machined)
10 g
20g
30g
50g
Total Mass 110g
Requirement Design
Mass less than 26 kg
Total Mass 17 kg
Volume gt= 2U Total Volume 2U
Design Requirements
50 cm
318 cm
318 cm
1111 cm 4695 cm
75 cm
Electrical wires
Sensing
Sen
sing
31
Sensor Design
Camera is mounted inside the blade housing pointed towards one surface of the blade
Reflective tape will be placed on the blade facing the camera and will be illuminated via LEDs mounted to blade housing
Image processing algorithm will locate the center of the reflective tape within the camera frame and compare the location against the known position of the sensing point at no deflection
Blade will move between +- 20 degress for flapping oscillation and between +- 90 degrees for twsiting oscillation
Sen
sing
32
Camera Requirements and Selection
θmin= 5deg
θrange= 40deg
Camera Requirement Parent Requirement
Caspa VL
Field of View gt 436deg x 10deg
Blade Range of Motion
786deg x 593deg(752x480 Pixels)
Pixel Density gt 2 pixelsdegFOV
Blade Range of Motion
95 pixelsdegFOV
Frame Rate gt 2 fps Control Law 60 fps
Width = 257 cm
Length = 39 cm
Sen
sing
33
Range of Motion - Markers
ProcessedImage
Flap ModeMarkers movesame direction
Nominal marker
positions
Marker position at 20deg flap
ProcessedImage
Twist ModeMarkers move
opposite directions
Nominal marker
positions
Marker position at 90deg twist
The green box outlines the section of the image that needs to be processed It encompases a total area of 015 Megapixels
Deflection Angles
θtwist= +- 90deg θtwist per pixel= 106deg
θflap = +- 20deg θflap per pixel= 011deg
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Intr
oduc
tion
11
Blade Housing
Linear Actuator
Camera
Image Processor
Blade Analogue
7 cm
10 cm
20 cm
Intr
oduc
tion
12
CubeSat Bus
Microcontroller
Actuator Drivers
Rotational Actuator
Dimensions in cm
Intr
oduc
tion
13
Rope Ladder Analogbull Current heliogyro reseach uses a rope ladder assumption to
investigate blade dynamicsbull Extremely thin sail material (264 thickness) has negligible internal forcesbull Assumes the sail blade material has no stiffness or internal damping
bull Rope ladder assumption allows for blades to be constructed from support materials alone for blade testingbull Reduction in surface area results in less damping being provided by airbull 22 meters in length
Rope Ladder Blade Diagram Regular Sail Blade KaptonTape
Tip Mass
15 cm
Tip Mass
15 cm
StringWireBlade Skeleton
Intr
oduc
tion
14
FBDBlade Housing
CubeSat Bus
Power Supply
LabVIEW VI(CubeSat processor)
Rotational Actuator
Linear Actuator
Camera
LED
Gum
stix
Arduino Due
Actuator Drivers
Mode Angle Rate (UART)Images
Voltage
Voltage
RS232 instructions
Angle Logic (UART)
Blade
Linear Motion
Pitching Motion
Legend
- Power
- Data
- Command
s
- Motion6 V
6 V
6 V
5 V
9 V
gt1 V
18 V
Intr
oduc
tion
15
Intr
oduc
tion
16
CPEs
bull Control Law
bull Actuators
bull Sensing
bull Electronics
Control Law
Con
trol
Law
18
Control Law Introduction
bull Control Law adds damping by moving the root based on movements at the tip of the solar sail
bull Control Law sets the requirements for the system Minimum resolution of the cameras Minimum range of motion (linearrotary) Minimum resolution of the actuators (linearrotary) Maximum computational time Minimum required acceleration
Con
trol
Law
19
Requirements For SensorsLinear sensor Rotary sensor
Minimum Sampling Rate
frac12 second frac12 second
Resolution gt5 degree gt5 degree
Con
trol
Law
20
Requirements For ActuatorsLinear Actuator Rotary
Actuator
Range of Motion +- 13 cm +- 90 degrees
Resolution 15 mm 3 degrees
Maximum acceleration
08 ms^2 10 rads^2
Con
trol
Law
21
Requirements For Computational Time
Twisting mode Flapping Mode
Max Computational Time frac14 second frac14 second
Con
trol
Law
22
Summary of the Control Law Flapping (Linear Motion)
Twisting(Angular Motion)
Sensor resolution frac12 second frac12 second
Actuator range of motion
+- 13 cm +- 90 degrees
Actuator resolution 15 mm 3 degrees
Maximum Acceleration
08 ms^2 126 rads^2
Max computational Time
frac14 second frac14 second
Actuators
Act
uato
rs
24
Actuation Design Front View Deployed Blade
Top View Deployed Blade Back View
3-D View
LinearActuator
RotaryActuator
Act
uato
rs
25
Mass Budget
Subsystem
Components Mass
Structural 5 ndash 18rdquo Aluminum plates (Machined)
330g
Electronics -2 drivers- Arduino
30g35g35g
Actuators -Rotary motor w Encoder 50g
Mechanical -Bevel Gear-Mounting components
30g75g
Total Mass 585g
Full Assembly
Rear unit
65 cm
3 cm
05 cm
Rear Housing Back View
Motor Drivers
Arduino
Aluminum Plates
Bevel Gear
Electrical Wiring
Rotary Motor
3 cm 3 cm
10 cm
Rear Housing Side View
20 cm
10 cm
Rotary Motor w Encoder Bevel Gear
Mounting Components
Electrical Wiring
Wiring Through Hollow Rod
Act
uato
rs
26
Rotary Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionServo Motor w Encoder
+- 90o rotation Customer 360o motion reversible
Torque gt 16 mNm Control Law Continuous torque w 21 Gear Ratio 22 mNm
Minimum Resolution lt 3o
Control Law Encoder 036o
Fit within rear housing unit lt 5 cm axial length lt 3 cm diameter
Design 35 cm axial length22 cm diameter
Act
uato
rs
27
Mass Budget
Subsystem
Components Mass
Structural 5ndash 18rdquo Aluminum plates (Machined)
360g
Electronics -Image Processor
-Expansion Board
-Camera
15g
30g
30g
Actuators -Linear motor 20g
Mechanical -Linear Guide System
-Mounting Components
-Spool and Rolled Blade
60g
50g
300g
Total Mass 820g
Full Assembly
Front unit65 cm
3 cm
05 cm
Front View Undeployed Blade
Image ProcessorExpansion Board Camera
Linear Guide System
Linear Actuator
Spool and Rolled Blade
10 cm
20 cm
1 cm
3 cm
3 cm
1 cm
3 cm
3 cm
25 cm
Electrical WiringTo ArduinoElectrical Wiring to Image Processor
Electrical Wiring to DriverFront View Deployed Blade
Deployed Blade
Act
uato
rs
28
Linear Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionLinear Servo Motor
Range of Motion +- 25 cm
Control Law Range of Motion +- 40 cm
Precision 45 mm Control Law Precision 004 mm
Velocity 31 cms Control Law Velocity 80 cms continuous
Force gt 053Nm Control Law Force 103 N continuous
Horizontal Length lt 25 mmAxial Length lt 93 mm
Design Horizontal Length 8 mmAxial Length 82 mm
Act
uato
rs
29
Mass Budget Housing Interface Assembly
Subsystem Components Mass
Mechanical -Hollow Precision Rod-Radial Bearing
-Turntable Bearing
-Mounting Components(Machined)
10 g
20g
30g
50g
Total Mass 110g
Requirement Design
Mass less than 26 kg
Total Mass 17 kg
Volume gt= 2U Total Volume 2U
Design Requirements
50 cm
318 cm
318 cm
1111 cm 4695 cm
75 cm
Electrical wires
Sensing
Sen
sing
31
Sensor Design
Camera is mounted inside the blade housing pointed towards one surface of the blade
Reflective tape will be placed on the blade facing the camera and will be illuminated via LEDs mounted to blade housing
Image processing algorithm will locate the center of the reflective tape within the camera frame and compare the location against the known position of the sensing point at no deflection
Blade will move between +- 20 degress for flapping oscillation and between +- 90 degrees for twsiting oscillation
Sen
sing
32
Camera Requirements and Selection
θmin= 5deg
θrange= 40deg
Camera Requirement Parent Requirement
Caspa VL
Field of View gt 436deg x 10deg
Blade Range of Motion
786deg x 593deg(752x480 Pixels)
Pixel Density gt 2 pixelsdegFOV
Blade Range of Motion
95 pixelsdegFOV
Frame Rate gt 2 fps Control Law 60 fps
Width = 257 cm
Length = 39 cm
Sen
sing
33
Range of Motion - Markers
ProcessedImage
Flap ModeMarkers movesame direction
Nominal marker
positions
Marker position at 20deg flap
ProcessedImage
Twist ModeMarkers move
opposite directions
Nominal marker
positions
Marker position at 90deg twist
The green box outlines the section of the image that needs to be processed It encompases a total area of 015 Megapixels
Deflection Angles
θtwist= +- 90deg θtwist per pixel= 106deg
θflap = +- 20deg θflap per pixel= 011deg
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Intr
oduc
tion
12
CubeSat Bus
Microcontroller
Actuator Drivers
Rotational Actuator
Dimensions in cm
Intr
oduc
tion
13
Rope Ladder Analogbull Current heliogyro reseach uses a rope ladder assumption to
investigate blade dynamicsbull Extremely thin sail material (264 thickness) has negligible internal forcesbull Assumes the sail blade material has no stiffness or internal damping
bull Rope ladder assumption allows for blades to be constructed from support materials alone for blade testingbull Reduction in surface area results in less damping being provided by airbull 22 meters in length
Rope Ladder Blade Diagram Regular Sail Blade KaptonTape
Tip Mass
15 cm
Tip Mass
15 cm
StringWireBlade Skeleton
Intr
oduc
tion
14
FBDBlade Housing
CubeSat Bus
Power Supply
LabVIEW VI(CubeSat processor)
Rotational Actuator
Linear Actuator
Camera
LED
Gum
stix
Arduino Due
Actuator Drivers
Mode Angle Rate (UART)Images
Voltage
Voltage
RS232 instructions
Angle Logic (UART)
Blade
Linear Motion
Pitching Motion
Legend
- Power
- Data
- Command
s
- Motion6 V
6 V
6 V
5 V
9 V
gt1 V
18 V
Intr
oduc
tion
15
Intr
oduc
tion
16
CPEs
bull Control Law
bull Actuators
bull Sensing
bull Electronics
Control Law
Con
trol
Law
18
Control Law Introduction
bull Control Law adds damping by moving the root based on movements at the tip of the solar sail
bull Control Law sets the requirements for the system Minimum resolution of the cameras Minimum range of motion (linearrotary) Minimum resolution of the actuators (linearrotary) Maximum computational time Minimum required acceleration
Con
trol
Law
19
Requirements For SensorsLinear sensor Rotary sensor
Minimum Sampling Rate
frac12 second frac12 second
Resolution gt5 degree gt5 degree
Con
trol
Law
20
Requirements For ActuatorsLinear Actuator Rotary
Actuator
Range of Motion +- 13 cm +- 90 degrees
Resolution 15 mm 3 degrees
Maximum acceleration
08 ms^2 10 rads^2
Con
trol
Law
21
Requirements For Computational Time
Twisting mode Flapping Mode
Max Computational Time frac14 second frac14 second
Con
trol
Law
22
Summary of the Control Law Flapping (Linear Motion)
Twisting(Angular Motion)
Sensor resolution frac12 second frac12 second
Actuator range of motion
+- 13 cm +- 90 degrees
Actuator resolution 15 mm 3 degrees
Maximum Acceleration
08 ms^2 126 rads^2
Max computational Time
frac14 second frac14 second
Actuators
Act
uato
rs
24
Actuation Design Front View Deployed Blade
Top View Deployed Blade Back View
3-D View
LinearActuator
RotaryActuator
Act
uato
rs
25
Mass Budget
Subsystem
Components Mass
Structural 5 ndash 18rdquo Aluminum plates (Machined)
330g
Electronics -2 drivers- Arduino
30g35g35g
Actuators -Rotary motor w Encoder 50g
Mechanical -Bevel Gear-Mounting components
30g75g
Total Mass 585g
Full Assembly
Rear unit
65 cm
3 cm
05 cm
Rear Housing Back View
Motor Drivers
Arduino
Aluminum Plates
Bevel Gear
Electrical Wiring
Rotary Motor
3 cm 3 cm
10 cm
Rear Housing Side View
20 cm
10 cm
Rotary Motor w Encoder Bevel Gear
Mounting Components
Electrical Wiring
Wiring Through Hollow Rod
Act
uato
rs
26
Rotary Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionServo Motor w Encoder
+- 90o rotation Customer 360o motion reversible
Torque gt 16 mNm Control Law Continuous torque w 21 Gear Ratio 22 mNm
Minimum Resolution lt 3o
Control Law Encoder 036o
Fit within rear housing unit lt 5 cm axial length lt 3 cm diameter
Design 35 cm axial length22 cm diameter
Act
uato
rs
27
Mass Budget
Subsystem
Components Mass
Structural 5ndash 18rdquo Aluminum plates (Machined)
360g
Electronics -Image Processor
-Expansion Board
-Camera
15g
30g
30g
Actuators -Linear motor 20g
Mechanical -Linear Guide System
-Mounting Components
-Spool and Rolled Blade
60g
50g
300g
Total Mass 820g
Full Assembly
Front unit65 cm
3 cm
05 cm
Front View Undeployed Blade
Image ProcessorExpansion Board Camera
Linear Guide System
Linear Actuator
Spool and Rolled Blade
10 cm
20 cm
1 cm
3 cm
3 cm
1 cm
3 cm
3 cm
25 cm
Electrical WiringTo ArduinoElectrical Wiring to Image Processor
Electrical Wiring to DriverFront View Deployed Blade
Deployed Blade
Act
uato
rs
28
Linear Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionLinear Servo Motor
Range of Motion +- 25 cm
Control Law Range of Motion +- 40 cm
Precision 45 mm Control Law Precision 004 mm
Velocity 31 cms Control Law Velocity 80 cms continuous
Force gt 053Nm Control Law Force 103 N continuous
Horizontal Length lt 25 mmAxial Length lt 93 mm
Design Horizontal Length 8 mmAxial Length 82 mm
Act
uato
rs
29
Mass Budget Housing Interface Assembly
Subsystem Components Mass
Mechanical -Hollow Precision Rod-Radial Bearing
-Turntable Bearing
-Mounting Components(Machined)
10 g
20g
30g
50g
Total Mass 110g
Requirement Design
Mass less than 26 kg
Total Mass 17 kg
Volume gt= 2U Total Volume 2U
Design Requirements
50 cm
318 cm
318 cm
1111 cm 4695 cm
75 cm
Electrical wires
Sensing
Sen
sing
31
Sensor Design
Camera is mounted inside the blade housing pointed towards one surface of the blade
Reflective tape will be placed on the blade facing the camera and will be illuminated via LEDs mounted to blade housing
Image processing algorithm will locate the center of the reflective tape within the camera frame and compare the location against the known position of the sensing point at no deflection
Blade will move between +- 20 degress for flapping oscillation and between +- 90 degrees for twsiting oscillation
Sen
sing
32
Camera Requirements and Selection
θmin= 5deg
θrange= 40deg
Camera Requirement Parent Requirement
Caspa VL
Field of View gt 436deg x 10deg
Blade Range of Motion
786deg x 593deg(752x480 Pixels)
Pixel Density gt 2 pixelsdegFOV
Blade Range of Motion
95 pixelsdegFOV
Frame Rate gt 2 fps Control Law 60 fps
Width = 257 cm
Length = 39 cm
Sen
sing
33
Range of Motion - Markers
ProcessedImage
Flap ModeMarkers movesame direction
Nominal marker
positions
Marker position at 20deg flap
ProcessedImage
Twist ModeMarkers move
opposite directions
Nominal marker
positions
Marker position at 90deg twist
The green box outlines the section of the image that needs to be processed It encompases a total area of 015 Megapixels
Deflection Angles
θtwist= +- 90deg θtwist per pixel= 106deg
θflap = +- 20deg θflap per pixel= 011deg
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Intr
oduc
tion
13
Rope Ladder Analogbull Current heliogyro reseach uses a rope ladder assumption to
investigate blade dynamicsbull Extremely thin sail material (264 thickness) has negligible internal forcesbull Assumes the sail blade material has no stiffness or internal damping
bull Rope ladder assumption allows for blades to be constructed from support materials alone for blade testingbull Reduction in surface area results in less damping being provided by airbull 22 meters in length
Rope Ladder Blade Diagram Regular Sail Blade KaptonTape
Tip Mass
15 cm
Tip Mass
15 cm
StringWireBlade Skeleton
Intr
oduc
tion
14
FBDBlade Housing
CubeSat Bus
Power Supply
LabVIEW VI(CubeSat processor)
Rotational Actuator
Linear Actuator
Camera
LED
Gum
stix
Arduino Due
Actuator Drivers
Mode Angle Rate (UART)Images
Voltage
Voltage
RS232 instructions
Angle Logic (UART)
Blade
Linear Motion
Pitching Motion
Legend
- Power
- Data
- Command
s
- Motion6 V
6 V
6 V
5 V
9 V
gt1 V
18 V
Intr
oduc
tion
15
Intr
oduc
tion
16
CPEs
bull Control Law
bull Actuators
bull Sensing
bull Electronics
Control Law
Con
trol
Law
18
Control Law Introduction
bull Control Law adds damping by moving the root based on movements at the tip of the solar sail
bull Control Law sets the requirements for the system Minimum resolution of the cameras Minimum range of motion (linearrotary) Minimum resolution of the actuators (linearrotary) Maximum computational time Minimum required acceleration
Con
trol
Law
19
Requirements For SensorsLinear sensor Rotary sensor
Minimum Sampling Rate
frac12 second frac12 second
Resolution gt5 degree gt5 degree
Con
trol
Law
20
Requirements For ActuatorsLinear Actuator Rotary
Actuator
Range of Motion +- 13 cm +- 90 degrees
Resolution 15 mm 3 degrees
Maximum acceleration
08 ms^2 10 rads^2
Con
trol
Law
21
Requirements For Computational Time
Twisting mode Flapping Mode
Max Computational Time frac14 second frac14 second
Con
trol
Law
22
Summary of the Control Law Flapping (Linear Motion)
Twisting(Angular Motion)
Sensor resolution frac12 second frac12 second
Actuator range of motion
+- 13 cm +- 90 degrees
Actuator resolution 15 mm 3 degrees
Maximum Acceleration
08 ms^2 126 rads^2
Max computational Time
frac14 second frac14 second
Actuators
Act
uato
rs
24
Actuation Design Front View Deployed Blade
Top View Deployed Blade Back View
3-D View
LinearActuator
RotaryActuator
Act
uato
rs
25
Mass Budget
Subsystem
Components Mass
Structural 5 ndash 18rdquo Aluminum plates (Machined)
330g
Electronics -2 drivers- Arduino
30g35g35g
Actuators -Rotary motor w Encoder 50g
Mechanical -Bevel Gear-Mounting components
30g75g
Total Mass 585g
Full Assembly
Rear unit
65 cm
3 cm
05 cm
Rear Housing Back View
Motor Drivers
Arduino
Aluminum Plates
Bevel Gear
Electrical Wiring
Rotary Motor
3 cm 3 cm
10 cm
Rear Housing Side View
20 cm
10 cm
Rotary Motor w Encoder Bevel Gear
Mounting Components
Electrical Wiring
Wiring Through Hollow Rod
Act
uato
rs
26
Rotary Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionServo Motor w Encoder
+- 90o rotation Customer 360o motion reversible
Torque gt 16 mNm Control Law Continuous torque w 21 Gear Ratio 22 mNm
Minimum Resolution lt 3o
Control Law Encoder 036o
Fit within rear housing unit lt 5 cm axial length lt 3 cm diameter
Design 35 cm axial length22 cm diameter
Act
uato
rs
27
Mass Budget
Subsystem
Components Mass
Structural 5ndash 18rdquo Aluminum plates (Machined)
360g
Electronics -Image Processor
-Expansion Board
-Camera
15g
30g
30g
Actuators -Linear motor 20g
Mechanical -Linear Guide System
-Mounting Components
-Spool and Rolled Blade
60g
50g
300g
Total Mass 820g
Full Assembly
Front unit65 cm
3 cm
05 cm
Front View Undeployed Blade
Image ProcessorExpansion Board Camera
Linear Guide System
Linear Actuator
Spool and Rolled Blade
10 cm
20 cm
1 cm
3 cm
3 cm
1 cm
3 cm
3 cm
25 cm
Electrical WiringTo ArduinoElectrical Wiring to Image Processor
Electrical Wiring to DriverFront View Deployed Blade
Deployed Blade
Act
uato
rs
28
Linear Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionLinear Servo Motor
Range of Motion +- 25 cm
Control Law Range of Motion +- 40 cm
Precision 45 mm Control Law Precision 004 mm
Velocity 31 cms Control Law Velocity 80 cms continuous
Force gt 053Nm Control Law Force 103 N continuous
Horizontal Length lt 25 mmAxial Length lt 93 mm
Design Horizontal Length 8 mmAxial Length 82 mm
Act
uato
rs
29
Mass Budget Housing Interface Assembly
Subsystem Components Mass
Mechanical -Hollow Precision Rod-Radial Bearing
-Turntable Bearing
-Mounting Components(Machined)
10 g
20g
30g
50g
Total Mass 110g
Requirement Design
Mass less than 26 kg
Total Mass 17 kg
Volume gt= 2U Total Volume 2U
Design Requirements
50 cm
318 cm
318 cm
1111 cm 4695 cm
75 cm
Electrical wires
Sensing
Sen
sing
31
Sensor Design
Camera is mounted inside the blade housing pointed towards one surface of the blade
Reflective tape will be placed on the blade facing the camera and will be illuminated via LEDs mounted to blade housing
Image processing algorithm will locate the center of the reflective tape within the camera frame and compare the location against the known position of the sensing point at no deflection
Blade will move between +- 20 degress for flapping oscillation and between +- 90 degrees for twsiting oscillation
Sen
sing
32
Camera Requirements and Selection
θmin= 5deg
θrange= 40deg
Camera Requirement Parent Requirement
Caspa VL
Field of View gt 436deg x 10deg
Blade Range of Motion
786deg x 593deg(752x480 Pixels)
Pixel Density gt 2 pixelsdegFOV
Blade Range of Motion
95 pixelsdegFOV
Frame Rate gt 2 fps Control Law 60 fps
Width = 257 cm
Length = 39 cm
Sen
sing
33
Range of Motion - Markers
ProcessedImage
Flap ModeMarkers movesame direction
Nominal marker
positions
Marker position at 20deg flap
ProcessedImage
Twist ModeMarkers move
opposite directions
Nominal marker
positions
Marker position at 90deg twist
The green box outlines the section of the image that needs to be processed It encompases a total area of 015 Megapixels
Deflection Angles
θtwist= +- 90deg θtwist per pixel= 106deg
θflap = +- 20deg θflap per pixel= 011deg
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Intr
oduc
tion
14
FBDBlade Housing
CubeSat Bus
Power Supply
LabVIEW VI(CubeSat processor)
Rotational Actuator
Linear Actuator
Camera
LED
Gum
stix
Arduino Due
Actuator Drivers
Mode Angle Rate (UART)Images
Voltage
Voltage
RS232 instructions
Angle Logic (UART)
Blade
Linear Motion
Pitching Motion
Legend
- Power
- Data
- Command
s
- Motion6 V
6 V
6 V
5 V
9 V
gt1 V
18 V
Intr
oduc
tion
15
Intr
oduc
tion
16
CPEs
bull Control Law
bull Actuators
bull Sensing
bull Electronics
Control Law
Con
trol
Law
18
Control Law Introduction
bull Control Law adds damping by moving the root based on movements at the tip of the solar sail
bull Control Law sets the requirements for the system Minimum resolution of the cameras Minimum range of motion (linearrotary) Minimum resolution of the actuators (linearrotary) Maximum computational time Minimum required acceleration
Con
trol
Law
19
Requirements For SensorsLinear sensor Rotary sensor
Minimum Sampling Rate
frac12 second frac12 second
Resolution gt5 degree gt5 degree
Con
trol
Law
20
Requirements For ActuatorsLinear Actuator Rotary
Actuator
Range of Motion +- 13 cm +- 90 degrees
Resolution 15 mm 3 degrees
Maximum acceleration
08 ms^2 10 rads^2
Con
trol
Law
21
Requirements For Computational Time
Twisting mode Flapping Mode
Max Computational Time frac14 second frac14 second
Con
trol
Law
22
Summary of the Control Law Flapping (Linear Motion)
Twisting(Angular Motion)
Sensor resolution frac12 second frac12 second
Actuator range of motion
+- 13 cm +- 90 degrees
Actuator resolution 15 mm 3 degrees
Maximum Acceleration
08 ms^2 126 rads^2
Max computational Time
frac14 second frac14 second
Actuators
Act
uato
rs
24
Actuation Design Front View Deployed Blade
Top View Deployed Blade Back View
3-D View
LinearActuator
RotaryActuator
Act
uato
rs
25
Mass Budget
Subsystem
Components Mass
Structural 5 ndash 18rdquo Aluminum plates (Machined)
330g
Electronics -2 drivers- Arduino
30g35g35g
Actuators -Rotary motor w Encoder 50g
Mechanical -Bevel Gear-Mounting components
30g75g
Total Mass 585g
Full Assembly
Rear unit
65 cm
3 cm
05 cm
Rear Housing Back View
Motor Drivers
Arduino
Aluminum Plates
Bevel Gear
Electrical Wiring
Rotary Motor
3 cm 3 cm
10 cm
Rear Housing Side View
20 cm
10 cm
Rotary Motor w Encoder Bevel Gear
Mounting Components
Electrical Wiring
Wiring Through Hollow Rod
Act
uato
rs
26
Rotary Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionServo Motor w Encoder
+- 90o rotation Customer 360o motion reversible
Torque gt 16 mNm Control Law Continuous torque w 21 Gear Ratio 22 mNm
Minimum Resolution lt 3o
Control Law Encoder 036o
Fit within rear housing unit lt 5 cm axial length lt 3 cm diameter
Design 35 cm axial length22 cm diameter
Act
uato
rs
27
Mass Budget
Subsystem
Components Mass
Structural 5ndash 18rdquo Aluminum plates (Machined)
360g
Electronics -Image Processor
-Expansion Board
-Camera
15g
30g
30g
Actuators -Linear motor 20g
Mechanical -Linear Guide System
-Mounting Components
-Spool and Rolled Blade
60g
50g
300g
Total Mass 820g
Full Assembly
Front unit65 cm
3 cm
05 cm
Front View Undeployed Blade
Image ProcessorExpansion Board Camera
Linear Guide System
Linear Actuator
Spool and Rolled Blade
10 cm
20 cm
1 cm
3 cm
3 cm
1 cm
3 cm
3 cm
25 cm
Electrical WiringTo ArduinoElectrical Wiring to Image Processor
Electrical Wiring to DriverFront View Deployed Blade
Deployed Blade
Act
uato
rs
28
Linear Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionLinear Servo Motor
Range of Motion +- 25 cm
Control Law Range of Motion +- 40 cm
Precision 45 mm Control Law Precision 004 mm
Velocity 31 cms Control Law Velocity 80 cms continuous
Force gt 053Nm Control Law Force 103 N continuous
Horizontal Length lt 25 mmAxial Length lt 93 mm
Design Horizontal Length 8 mmAxial Length 82 mm
Act
uato
rs
29
Mass Budget Housing Interface Assembly
Subsystem Components Mass
Mechanical -Hollow Precision Rod-Radial Bearing
-Turntable Bearing
-Mounting Components(Machined)
10 g
20g
30g
50g
Total Mass 110g
Requirement Design
Mass less than 26 kg
Total Mass 17 kg
Volume gt= 2U Total Volume 2U
Design Requirements
50 cm
318 cm
318 cm
1111 cm 4695 cm
75 cm
Electrical wires
Sensing
Sen
sing
31
Sensor Design
Camera is mounted inside the blade housing pointed towards one surface of the blade
Reflective tape will be placed on the blade facing the camera and will be illuminated via LEDs mounted to blade housing
Image processing algorithm will locate the center of the reflective tape within the camera frame and compare the location against the known position of the sensing point at no deflection
Blade will move between +- 20 degress for flapping oscillation and between +- 90 degrees for twsiting oscillation
Sen
sing
32
Camera Requirements and Selection
θmin= 5deg
θrange= 40deg
Camera Requirement Parent Requirement
Caspa VL
Field of View gt 436deg x 10deg
Blade Range of Motion
786deg x 593deg(752x480 Pixels)
Pixel Density gt 2 pixelsdegFOV
Blade Range of Motion
95 pixelsdegFOV
Frame Rate gt 2 fps Control Law 60 fps
Width = 257 cm
Length = 39 cm
Sen
sing
33
Range of Motion - Markers
ProcessedImage
Flap ModeMarkers movesame direction
Nominal marker
positions
Marker position at 20deg flap
ProcessedImage
Twist ModeMarkers move
opposite directions
Nominal marker
positions
Marker position at 90deg twist
The green box outlines the section of the image that needs to be processed It encompases a total area of 015 Megapixels
Deflection Angles
θtwist= +- 90deg θtwist per pixel= 106deg
θflap = +- 20deg θflap per pixel= 011deg
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Intr
oduc
tion
15
Intr
oduc
tion
16
CPEs
bull Control Law
bull Actuators
bull Sensing
bull Electronics
Control Law
Con
trol
Law
18
Control Law Introduction
bull Control Law adds damping by moving the root based on movements at the tip of the solar sail
bull Control Law sets the requirements for the system Minimum resolution of the cameras Minimum range of motion (linearrotary) Minimum resolution of the actuators (linearrotary) Maximum computational time Minimum required acceleration
Con
trol
Law
19
Requirements For SensorsLinear sensor Rotary sensor
Minimum Sampling Rate
frac12 second frac12 second
Resolution gt5 degree gt5 degree
Con
trol
Law
20
Requirements For ActuatorsLinear Actuator Rotary
Actuator
Range of Motion +- 13 cm +- 90 degrees
Resolution 15 mm 3 degrees
Maximum acceleration
08 ms^2 10 rads^2
Con
trol
Law
21
Requirements For Computational Time
Twisting mode Flapping Mode
Max Computational Time frac14 second frac14 second
Con
trol
Law
22
Summary of the Control Law Flapping (Linear Motion)
Twisting(Angular Motion)
Sensor resolution frac12 second frac12 second
Actuator range of motion
+- 13 cm +- 90 degrees
Actuator resolution 15 mm 3 degrees
Maximum Acceleration
08 ms^2 126 rads^2
Max computational Time
frac14 second frac14 second
Actuators
Act
uato
rs
24
Actuation Design Front View Deployed Blade
Top View Deployed Blade Back View
3-D View
LinearActuator
RotaryActuator
Act
uato
rs
25
Mass Budget
Subsystem
Components Mass
Structural 5 ndash 18rdquo Aluminum plates (Machined)
330g
Electronics -2 drivers- Arduino
30g35g35g
Actuators -Rotary motor w Encoder 50g
Mechanical -Bevel Gear-Mounting components
30g75g
Total Mass 585g
Full Assembly
Rear unit
65 cm
3 cm
05 cm
Rear Housing Back View
Motor Drivers
Arduino
Aluminum Plates
Bevel Gear
Electrical Wiring
Rotary Motor
3 cm 3 cm
10 cm
Rear Housing Side View
20 cm
10 cm
Rotary Motor w Encoder Bevel Gear
Mounting Components
Electrical Wiring
Wiring Through Hollow Rod
Act
uato
rs
26
Rotary Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionServo Motor w Encoder
+- 90o rotation Customer 360o motion reversible
Torque gt 16 mNm Control Law Continuous torque w 21 Gear Ratio 22 mNm
Minimum Resolution lt 3o
Control Law Encoder 036o
Fit within rear housing unit lt 5 cm axial length lt 3 cm diameter
Design 35 cm axial length22 cm diameter
Act
uato
rs
27
Mass Budget
Subsystem
Components Mass
Structural 5ndash 18rdquo Aluminum plates (Machined)
360g
Electronics -Image Processor
-Expansion Board
-Camera
15g
30g
30g
Actuators -Linear motor 20g
Mechanical -Linear Guide System
-Mounting Components
-Spool and Rolled Blade
60g
50g
300g
Total Mass 820g
Full Assembly
Front unit65 cm
3 cm
05 cm
Front View Undeployed Blade
Image ProcessorExpansion Board Camera
Linear Guide System
Linear Actuator
Spool and Rolled Blade
10 cm
20 cm
1 cm
3 cm
3 cm
1 cm
3 cm
3 cm
25 cm
Electrical WiringTo ArduinoElectrical Wiring to Image Processor
Electrical Wiring to DriverFront View Deployed Blade
Deployed Blade
Act
uato
rs
28
Linear Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionLinear Servo Motor
Range of Motion +- 25 cm
Control Law Range of Motion +- 40 cm
Precision 45 mm Control Law Precision 004 mm
Velocity 31 cms Control Law Velocity 80 cms continuous
Force gt 053Nm Control Law Force 103 N continuous
Horizontal Length lt 25 mmAxial Length lt 93 mm
Design Horizontal Length 8 mmAxial Length 82 mm
Act
uato
rs
29
Mass Budget Housing Interface Assembly
Subsystem Components Mass
Mechanical -Hollow Precision Rod-Radial Bearing
-Turntable Bearing
-Mounting Components(Machined)
10 g
20g
30g
50g
Total Mass 110g
Requirement Design
Mass less than 26 kg
Total Mass 17 kg
Volume gt= 2U Total Volume 2U
Design Requirements
50 cm
318 cm
318 cm
1111 cm 4695 cm
75 cm
Electrical wires
Sensing
Sen
sing
31
Sensor Design
Camera is mounted inside the blade housing pointed towards one surface of the blade
Reflective tape will be placed on the blade facing the camera and will be illuminated via LEDs mounted to blade housing
Image processing algorithm will locate the center of the reflective tape within the camera frame and compare the location against the known position of the sensing point at no deflection
Blade will move between +- 20 degress for flapping oscillation and between +- 90 degrees for twsiting oscillation
Sen
sing
32
Camera Requirements and Selection
θmin= 5deg
θrange= 40deg
Camera Requirement Parent Requirement
Caspa VL
Field of View gt 436deg x 10deg
Blade Range of Motion
786deg x 593deg(752x480 Pixels)
Pixel Density gt 2 pixelsdegFOV
Blade Range of Motion
95 pixelsdegFOV
Frame Rate gt 2 fps Control Law 60 fps
Width = 257 cm
Length = 39 cm
Sen
sing
33
Range of Motion - Markers
ProcessedImage
Flap ModeMarkers movesame direction
Nominal marker
positions
Marker position at 20deg flap
ProcessedImage
Twist ModeMarkers move
opposite directions
Nominal marker
positions
Marker position at 90deg twist
The green box outlines the section of the image that needs to be processed It encompases a total area of 015 Megapixels
Deflection Angles
θtwist= +- 90deg θtwist per pixel= 106deg
θflap = +- 20deg θflap per pixel= 011deg
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Intr
oduc
tion
16
CPEs
bull Control Law
bull Actuators
bull Sensing
bull Electronics
Control Law
Con
trol
Law
18
Control Law Introduction
bull Control Law adds damping by moving the root based on movements at the tip of the solar sail
bull Control Law sets the requirements for the system Minimum resolution of the cameras Minimum range of motion (linearrotary) Minimum resolution of the actuators (linearrotary) Maximum computational time Minimum required acceleration
Con
trol
Law
19
Requirements For SensorsLinear sensor Rotary sensor
Minimum Sampling Rate
frac12 second frac12 second
Resolution gt5 degree gt5 degree
Con
trol
Law
20
Requirements For ActuatorsLinear Actuator Rotary
Actuator
Range of Motion +- 13 cm +- 90 degrees
Resolution 15 mm 3 degrees
Maximum acceleration
08 ms^2 10 rads^2
Con
trol
Law
21
Requirements For Computational Time
Twisting mode Flapping Mode
Max Computational Time frac14 second frac14 second
Con
trol
Law
22
Summary of the Control Law Flapping (Linear Motion)
Twisting(Angular Motion)
Sensor resolution frac12 second frac12 second
Actuator range of motion
+- 13 cm +- 90 degrees
Actuator resolution 15 mm 3 degrees
Maximum Acceleration
08 ms^2 126 rads^2
Max computational Time
frac14 second frac14 second
Actuators
Act
uato
rs
24
Actuation Design Front View Deployed Blade
Top View Deployed Blade Back View
3-D View
LinearActuator
RotaryActuator
Act
uato
rs
25
Mass Budget
Subsystem
Components Mass
Structural 5 ndash 18rdquo Aluminum plates (Machined)
330g
Electronics -2 drivers- Arduino
30g35g35g
Actuators -Rotary motor w Encoder 50g
Mechanical -Bevel Gear-Mounting components
30g75g
Total Mass 585g
Full Assembly
Rear unit
65 cm
3 cm
05 cm
Rear Housing Back View
Motor Drivers
Arduino
Aluminum Plates
Bevel Gear
Electrical Wiring
Rotary Motor
3 cm 3 cm
10 cm
Rear Housing Side View
20 cm
10 cm
Rotary Motor w Encoder Bevel Gear
Mounting Components
Electrical Wiring
Wiring Through Hollow Rod
Act
uato
rs
26
Rotary Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionServo Motor w Encoder
+- 90o rotation Customer 360o motion reversible
Torque gt 16 mNm Control Law Continuous torque w 21 Gear Ratio 22 mNm
Minimum Resolution lt 3o
Control Law Encoder 036o
Fit within rear housing unit lt 5 cm axial length lt 3 cm diameter
Design 35 cm axial length22 cm diameter
Act
uato
rs
27
Mass Budget
Subsystem
Components Mass
Structural 5ndash 18rdquo Aluminum plates (Machined)
360g
Electronics -Image Processor
-Expansion Board
-Camera
15g
30g
30g
Actuators -Linear motor 20g
Mechanical -Linear Guide System
-Mounting Components
-Spool and Rolled Blade
60g
50g
300g
Total Mass 820g
Full Assembly
Front unit65 cm
3 cm
05 cm
Front View Undeployed Blade
Image ProcessorExpansion Board Camera
Linear Guide System
Linear Actuator
Spool and Rolled Blade
10 cm
20 cm
1 cm
3 cm
3 cm
1 cm
3 cm
3 cm
25 cm
Electrical WiringTo ArduinoElectrical Wiring to Image Processor
Electrical Wiring to DriverFront View Deployed Blade
Deployed Blade
Act
uato
rs
28
Linear Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionLinear Servo Motor
Range of Motion +- 25 cm
Control Law Range of Motion +- 40 cm
Precision 45 mm Control Law Precision 004 mm
Velocity 31 cms Control Law Velocity 80 cms continuous
Force gt 053Nm Control Law Force 103 N continuous
Horizontal Length lt 25 mmAxial Length lt 93 mm
Design Horizontal Length 8 mmAxial Length 82 mm
Act
uato
rs
29
Mass Budget Housing Interface Assembly
Subsystem Components Mass
Mechanical -Hollow Precision Rod-Radial Bearing
-Turntable Bearing
-Mounting Components(Machined)
10 g
20g
30g
50g
Total Mass 110g
Requirement Design
Mass less than 26 kg
Total Mass 17 kg
Volume gt= 2U Total Volume 2U
Design Requirements
50 cm
318 cm
318 cm
1111 cm 4695 cm
75 cm
Electrical wires
Sensing
Sen
sing
31
Sensor Design
Camera is mounted inside the blade housing pointed towards one surface of the blade
Reflective tape will be placed on the blade facing the camera and will be illuminated via LEDs mounted to blade housing
Image processing algorithm will locate the center of the reflective tape within the camera frame and compare the location against the known position of the sensing point at no deflection
Blade will move between +- 20 degress for flapping oscillation and between +- 90 degrees for twsiting oscillation
Sen
sing
32
Camera Requirements and Selection
θmin= 5deg
θrange= 40deg
Camera Requirement Parent Requirement
Caspa VL
Field of View gt 436deg x 10deg
Blade Range of Motion
786deg x 593deg(752x480 Pixels)
Pixel Density gt 2 pixelsdegFOV
Blade Range of Motion
95 pixelsdegFOV
Frame Rate gt 2 fps Control Law 60 fps
Width = 257 cm
Length = 39 cm
Sen
sing
33
Range of Motion - Markers
ProcessedImage
Flap ModeMarkers movesame direction
Nominal marker
positions
Marker position at 20deg flap
ProcessedImage
Twist ModeMarkers move
opposite directions
Nominal marker
positions
Marker position at 90deg twist
The green box outlines the section of the image that needs to be processed It encompases a total area of 015 Megapixels
Deflection Angles
θtwist= +- 90deg θtwist per pixel= 106deg
θflap = +- 20deg θflap per pixel= 011deg
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Control Law
Con
trol
Law
18
Control Law Introduction
bull Control Law adds damping by moving the root based on movements at the tip of the solar sail
bull Control Law sets the requirements for the system Minimum resolution of the cameras Minimum range of motion (linearrotary) Minimum resolution of the actuators (linearrotary) Maximum computational time Minimum required acceleration
Con
trol
Law
19
Requirements For SensorsLinear sensor Rotary sensor
Minimum Sampling Rate
frac12 second frac12 second
Resolution gt5 degree gt5 degree
Con
trol
Law
20
Requirements For ActuatorsLinear Actuator Rotary
Actuator
Range of Motion +- 13 cm +- 90 degrees
Resolution 15 mm 3 degrees
Maximum acceleration
08 ms^2 10 rads^2
Con
trol
Law
21
Requirements For Computational Time
Twisting mode Flapping Mode
Max Computational Time frac14 second frac14 second
Con
trol
Law
22
Summary of the Control Law Flapping (Linear Motion)
Twisting(Angular Motion)
Sensor resolution frac12 second frac12 second
Actuator range of motion
+- 13 cm +- 90 degrees
Actuator resolution 15 mm 3 degrees
Maximum Acceleration
08 ms^2 126 rads^2
Max computational Time
frac14 second frac14 second
Actuators
Act
uato
rs
24
Actuation Design Front View Deployed Blade
Top View Deployed Blade Back View
3-D View
LinearActuator
RotaryActuator
Act
uato
rs
25
Mass Budget
Subsystem
Components Mass
Structural 5 ndash 18rdquo Aluminum plates (Machined)
330g
Electronics -2 drivers- Arduino
30g35g35g
Actuators -Rotary motor w Encoder 50g
Mechanical -Bevel Gear-Mounting components
30g75g
Total Mass 585g
Full Assembly
Rear unit
65 cm
3 cm
05 cm
Rear Housing Back View
Motor Drivers
Arduino
Aluminum Plates
Bevel Gear
Electrical Wiring
Rotary Motor
3 cm 3 cm
10 cm
Rear Housing Side View
20 cm
10 cm
Rotary Motor w Encoder Bevel Gear
Mounting Components
Electrical Wiring
Wiring Through Hollow Rod
Act
uato
rs
26
Rotary Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionServo Motor w Encoder
+- 90o rotation Customer 360o motion reversible
Torque gt 16 mNm Control Law Continuous torque w 21 Gear Ratio 22 mNm
Minimum Resolution lt 3o
Control Law Encoder 036o
Fit within rear housing unit lt 5 cm axial length lt 3 cm diameter
Design 35 cm axial length22 cm diameter
Act
uato
rs
27
Mass Budget
Subsystem
Components Mass
Structural 5ndash 18rdquo Aluminum plates (Machined)
360g
Electronics -Image Processor
-Expansion Board
-Camera
15g
30g
30g
Actuators -Linear motor 20g
Mechanical -Linear Guide System
-Mounting Components
-Spool and Rolled Blade
60g
50g
300g
Total Mass 820g
Full Assembly
Front unit65 cm
3 cm
05 cm
Front View Undeployed Blade
Image ProcessorExpansion Board Camera
Linear Guide System
Linear Actuator
Spool and Rolled Blade
10 cm
20 cm
1 cm
3 cm
3 cm
1 cm
3 cm
3 cm
25 cm
Electrical WiringTo ArduinoElectrical Wiring to Image Processor
Electrical Wiring to DriverFront View Deployed Blade
Deployed Blade
Act
uato
rs
28
Linear Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionLinear Servo Motor
Range of Motion +- 25 cm
Control Law Range of Motion +- 40 cm
Precision 45 mm Control Law Precision 004 mm
Velocity 31 cms Control Law Velocity 80 cms continuous
Force gt 053Nm Control Law Force 103 N continuous
Horizontal Length lt 25 mmAxial Length lt 93 mm
Design Horizontal Length 8 mmAxial Length 82 mm
Act
uato
rs
29
Mass Budget Housing Interface Assembly
Subsystem Components Mass
Mechanical -Hollow Precision Rod-Radial Bearing
-Turntable Bearing
-Mounting Components(Machined)
10 g
20g
30g
50g
Total Mass 110g
Requirement Design
Mass less than 26 kg
Total Mass 17 kg
Volume gt= 2U Total Volume 2U
Design Requirements
50 cm
318 cm
318 cm
1111 cm 4695 cm
75 cm
Electrical wires
Sensing
Sen
sing
31
Sensor Design
Camera is mounted inside the blade housing pointed towards one surface of the blade
Reflective tape will be placed on the blade facing the camera and will be illuminated via LEDs mounted to blade housing
Image processing algorithm will locate the center of the reflective tape within the camera frame and compare the location against the known position of the sensing point at no deflection
Blade will move between +- 20 degress for flapping oscillation and between +- 90 degrees for twsiting oscillation
Sen
sing
32
Camera Requirements and Selection
θmin= 5deg
θrange= 40deg
Camera Requirement Parent Requirement
Caspa VL
Field of View gt 436deg x 10deg
Blade Range of Motion
786deg x 593deg(752x480 Pixels)
Pixel Density gt 2 pixelsdegFOV
Blade Range of Motion
95 pixelsdegFOV
Frame Rate gt 2 fps Control Law 60 fps
Width = 257 cm
Length = 39 cm
Sen
sing
33
Range of Motion - Markers
ProcessedImage
Flap ModeMarkers movesame direction
Nominal marker
positions
Marker position at 20deg flap
ProcessedImage
Twist ModeMarkers move
opposite directions
Nominal marker
positions
Marker position at 90deg twist
The green box outlines the section of the image that needs to be processed It encompases a total area of 015 Megapixels
Deflection Angles
θtwist= +- 90deg θtwist per pixel= 106deg
θflap = +- 20deg θflap per pixel= 011deg
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Con
trol
Law
18
Control Law Introduction
bull Control Law adds damping by moving the root based on movements at the tip of the solar sail
bull Control Law sets the requirements for the system Minimum resolution of the cameras Minimum range of motion (linearrotary) Minimum resolution of the actuators (linearrotary) Maximum computational time Minimum required acceleration
Con
trol
Law
19
Requirements For SensorsLinear sensor Rotary sensor
Minimum Sampling Rate
frac12 second frac12 second
Resolution gt5 degree gt5 degree
Con
trol
Law
20
Requirements For ActuatorsLinear Actuator Rotary
Actuator
Range of Motion +- 13 cm +- 90 degrees
Resolution 15 mm 3 degrees
Maximum acceleration
08 ms^2 10 rads^2
Con
trol
Law
21
Requirements For Computational Time
Twisting mode Flapping Mode
Max Computational Time frac14 second frac14 second
Con
trol
Law
22
Summary of the Control Law Flapping (Linear Motion)
Twisting(Angular Motion)
Sensor resolution frac12 second frac12 second
Actuator range of motion
+- 13 cm +- 90 degrees
Actuator resolution 15 mm 3 degrees
Maximum Acceleration
08 ms^2 126 rads^2
Max computational Time
frac14 second frac14 second
Actuators
Act
uato
rs
24
Actuation Design Front View Deployed Blade
Top View Deployed Blade Back View
3-D View
LinearActuator
RotaryActuator
Act
uato
rs
25
Mass Budget
Subsystem
Components Mass
Structural 5 ndash 18rdquo Aluminum plates (Machined)
330g
Electronics -2 drivers- Arduino
30g35g35g
Actuators -Rotary motor w Encoder 50g
Mechanical -Bevel Gear-Mounting components
30g75g
Total Mass 585g
Full Assembly
Rear unit
65 cm
3 cm
05 cm
Rear Housing Back View
Motor Drivers
Arduino
Aluminum Plates
Bevel Gear
Electrical Wiring
Rotary Motor
3 cm 3 cm
10 cm
Rear Housing Side View
20 cm
10 cm
Rotary Motor w Encoder Bevel Gear
Mounting Components
Electrical Wiring
Wiring Through Hollow Rod
Act
uato
rs
26
Rotary Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionServo Motor w Encoder
+- 90o rotation Customer 360o motion reversible
Torque gt 16 mNm Control Law Continuous torque w 21 Gear Ratio 22 mNm
Minimum Resolution lt 3o
Control Law Encoder 036o
Fit within rear housing unit lt 5 cm axial length lt 3 cm diameter
Design 35 cm axial length22 cm diameter
Act
uato
rs
27
Mass Budget
Subsystem
Components Mass
Structural 5ndash 18rdquo Aluminum plates (Machined)
360g
Electronics -Image Processor
-Expansion Board
-Camera
15g
30g
30g
Actuators -Linear motor 20g
Mechanical -Linear Guide System
-Mounting Components
-Spool and Rolled Blade
60g
50g
300g
Total Mass 820g
Full Assembly
Front unit65 cm
3 cm
05 cm
Front View Undeployed Blade
Image ProcessorExpansion Board Camera
Linear Guide System
Linear Actuator
Spool and Rolled Blade
10 cm
20 cm
1 cm
3 cm
3 cm
1 cm
3 cm
3 cm
25 cm
Electrical WiringTo ArduinoElectrical Wiring to Image Processor
Electrical Wiring to DriverFront View Deployed Blade
Deployed Blade
Act
uato
rs
28
Linear Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionLinear Servo Motor
Range of Motion +- 25 cm
Control Law Range of Motion +- 40 cm
Precision 45 mm Control Law Precision 004 mm
Velocity 31 cms Control Law Velocity 80 cms continuous
Force gt 053Nm Control Law Force 103 N continuous
Horizontal Length lt 25 mmAxial Length lt 93 mm
Design Horizontal Length 8 mmAxial Length 82 mm
Act
uato
rs
29
Mass Budget Housing Interface Assembly
Subsystem Components Mass
Mechanical -Hollow Precision Rod-Radial Bearing
-Turntable Bearing
-Mounting Components(Machined)
10 g
20g
30g
50g
Total Mass 110g
Requirement Design
Mass less than 26 kg
Total Mass 17 kg
Volume gt= 2U Total Volume 2U
Design Requirements
50 cm
318 cm
318 cm
1111 cm 4695 cm
75 cm
Electrical wires
Sensing
Sen
sing
31
Sensor Design
Camera is mounted inside the blade housing pointed towards one surface of the blade
Reflective tape will be placed on the blade facing the camera and will be illuminated via LEDs mounted to blade housing
Image processing algorithm will locate the center of the reflective tape within the camera frame and compare the location against the known position of the sensing point at no deflection
Blade will move between +- 20 degress for flapping oscillation and between +- 90 degrees for twsiting oscillation
Sen
sing
32
Camera Requirements and Selection
θmin= 5deg
θrange= 40deg
Camera Requirement Parent Requirement
Caspa VL
Field of View gt 436deg x 10deg
Blade Range of Motion
786deg x 593deg(752x480 Pixels)
Pixel Density gt 2 pixelsdegFOV
Blade Range of Motion
95 pixelsdegFOV
Frame Rate gt 2 fps Control Law 60 fps
Width = 257 cm
Length = 39 cm
Sen
sing
33
Range of Motion - Markers
ProcessedImage
Flap ModeMarkers movesame direction
Nominal marker
positions
Marker position at 20deg flap
ProcessedImage
Twist ModeMarkers move
opposite directions
Nominal marker
positions
Marker position at 90deg twist
The green box outlines the section of the image that needs to be processed It encompases a total area of 015 Megapixels
Deflection Angles
θtwist= +- 90deg θtwist per pixel= 106deg
θflap = +- 20deg θflap per pixel= 011deg
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Con
trol
Law
19
Requirements For SensorsLinear sensor Rotary sensor
Minimum Sampling Rate
frac12 second frac12 second
Resolution gt5 degree gt5 degree
Con
trol
Law
20
Requirements For ActuatorsLinear Actuator Rotary
Actuator
Range of Motion +- 13 cm +- 90 degrees
Resolution 15 mm 3 degrees
Maximum acceleration
08 ms^2 10 rads^2
Con
trol
Law
21
Requirements For Computational Time
Twisting mode Flapping Mode
Max Computational Time frac14 second frac14 second
Con
trol
Law
22
Summary of the Control Law Flapping (Linear Motion)
Twisting(Angular Motion)
Sensor resolution frac12 second frac12 second
Actuator range of motion
+- 13 cm +- 90 degrees
Actuator resolution 15 mm 3 degrees
Maximum Acceleration
08 ms^2 126 rads^2
Max computational Time
frac14 second frac14 second
Actuators
Act
uato
rs
24
Actuation Design Front View Deployed Blade
Top View Deployed Blade Back View
3-D View
LinearActuator
RotaryActuator
Act
uato
rs
25
Mass Budget
Subsystem
Components Mass
Structural 5 ndash 18rdquo Aluminum plates (Machined)
330g
Electronics -2 drivers- Arduino
30g35g35g
Actuators -Rotary motor w Encoder 50g
Mechanical -Bevel Gear-Mounting components
30g75g
Total Mass 585g
Full Assembly
Rear unit
65 cm
3 cm
05 cm
Rear Housing Back View
Motor Drivers
Arduino
Aluminum Plates
Bevel Gear
Electrical Wiring
Rotary Motor
3 cm 3 cm
10 cm
Rear Housing Side View
20 cm
10 cm
Rotary Motor w Encoder Bevel Gear
Mounting Components
Electrical Wiring
Wiring Through Hollow Rod
Act
uato
rs
26
Rotary Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionServo Motor w Encoder
+- 90o rotation Customer 360o motion reversible
Torque gt 16 mNm Control Law Continuous torque w 21 Gear Ratio 22 mNm
Minimum Resolution lt 3o
Control Law Encoder 036o
Fit within rear housing unit lt 5 cm axial length lt 3 cm diameter
Design 35 cm axial length22 cm diameter
Act
uato
rs
27
Mass Budget
Subsystem
Components Mass
Structural 5ndash 18rdquo Aluminum plates (Machined)
360g
Electronics -Image Processor
-Expansion Board
-Camera
15g
30g
30g
Actuators -Linear motor 20g
Mechanical -Linear Guide System
-Mounting Components
-Spool and Rolled Blade
60g
50g
300g
Total Mass 820g
Full Assembly
Front unit65 cm
3 cm
05 cm
Front View Undeployed Blade
Image ProcessorExpansion Board Camera
Linear Guide System
Linear Actuator
Spool and Rolled Blade
10 cm
20 cm
1 cm
3 cm
3 cm
1 cm
3 cm
3 cm
25 cm
Electrical WiringTo ArduinoElectrical Wiring to Image Processor
Electrical Wiring to DriverFront View Deployed Blade
Deployed Blade
Act
uato
rs
28
Linear Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionLinear Servo Motor
Range of Motion +- 25 cm
Control Law Range of Motion +- 40 cm
Precision 45 mm Control Law Precision 004 mm
Velocity 31 cms Control Law Velocity 80 cms continuous
Force gt 053Nm Control Law Force 103 N continuous
Horizontal Length lt 25 mmAxial Length lt 93 mm
Design Horizontal Length 8 mmAxial Length 82 mm
Act
uato
rs
29
Mass Budget Housing Interface Assembly
Subsystem Components Mass
Mechanical -Hollow Precision Rod-Radial Bearing
-Turntable Bearing
-Mounting Components(Machined)
10 g
20g
30g
50g
Total Mass 110g
Requirement Design
Mass less than 26 kg
Total Mass 17 kg
Volume gt= 2U Total Volume 2U
Design Requirements
50 cm
318 cm
318 cm
1111 cm 4695 cm
75 cm
Electrical wires
Sensing
Sen
sing
31
Sensor Design
Camera is mounted inside the blade housing pointed towards one surface of the blade
Reflective tape will be placed on the blade facing the camera and will be illuminated via LEDs mounted to blade housing
Image processing algorithm will locate the center of the reflective tape within the camera frame and compare the location against the known position of the sensing point at no deflection
Blade will move between +- 20 degress for flapping oscillation and between +- 90 degrees for twsiting oscillation
Sen
sing
32
Camera Requirements and Selection
θmin= 5deg
θrange= 40deg
Camera Requirement Parent Requirement
Caspa VL
Field of View gt 436deg x 10deg
Blade Range of Motion
786deg x 593deg(752x480 Pixels)
Pixel Density gt 2 pixelsdegFOV
Blade Range of Motion
95 pixelsdegFOV
Frame Rate gt 2 fps Control Law 60 fps
Width = 257 cm
Length = 39 cm
Sen
sing
33
Range of Motion - Markers
ProcessedImage
Flap ModeMarkers movesame direction
Nominal marker
positions
Marker position at 20deg flap
ProcessedImage
Twist ModeMarkers move
opposite directions
Nominal marker
positions
Marker position at 90deg twist
The green box outlines the section of the image that needs to be processed It encompases a total area of 015 Megapixels
Deflection Angles
θtwist= +- 90deg θtwist per pixel= 106deg
θflap = +- 20deg θflap per pixel= 011deg
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Con
trol
Law
20
Requirements For ActuatorsLinear Actuator Rotary
Actuator
Range of Motion +- 13 cm +- 90 degrees
Resolution 15 mm 3 degrees
Maximum acceleration
08 ms^2 10 rads^2
Con
trol
Law
21
Requirements For Computational Time
Twisting mode Flapping Mode
Max Computational Time frac14 second frac14 second
Con
trol
Law
22
Summary of the Control Law Flapping (Linear Motion)
Twisting(Angular Motion)
Sensor resolution frac12 second frac12 second
Actuator range of motion
+- 13 cm +- 90 degrees
Actuator resolution 15 mm 3 degrees
Maximum Acceleration
08 ms^2 126 rads^2
Max computational Time
frac14 second frac14 second
Actuators
Act
uato
rs
24
Actuation Design Front View Deployed Blade
Top View Deployed Blade Back View
3-D View
LinearActuator
RotaryActuator
Act
uato
rs
25
Mass Budget
Subsystem
Components Mass
Structural 5 ndash 18rdquo Aluminum plates (Machined)
330g
Electronics -2 drivers- Arduino
30g35g35g
Actuators -Rotary motor w Encoder 50g
Mechanical -Bevel Gear-Mounting components
30g75g
Total Mass 585g
Full Assembly
Rear unit
65 cm
3 cm
05 cm
Rear Housing Back View
Motor Drivers
Arduino
Aluminum Plates
Bevel Gear
Electrical Wiring
Rotary Motor
3 cm 3 cm
10 cm
Rear Housing Side View
20 cm
10 cm
Rotary Motor w Encoder Bevel Gear
Mounting Components
Electrical Wiring
Wiring Through Hollow Rod
Act
uato
rs
26
Rotary Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionServo Motor w Encoder
+- 90o rotation Customer 360o motion reversible
Torque gt 16 mNm Control Law Continuous torque w 21 Gear Ratio 22 mNm
Minimum Resolution lt 3o
Control Law Encoder 036o
Fit within rear housing unit lt 5 cm axial length lt 3 cm diameter
Design 35 cm axial length22 cm diameter
Act
uato
rs
27
Mass Budget
Subsystem
Components Mass
Structural 5ndash 18rdquo Aluminum plates (Machined)
360g
Electronics -Image Processor
-Expansion Board
-Camera
15g
30g
30g
Actuators -Linear motor 20g
Mechanical -Linear Guide System
-Mounting Components
-Spool and Rolled Blade
60g
50g
300g
Total Mass 820g
Full Assembly
Front unit65 cm
3 cm
05 cm
Front View Undeployed Blade
Image ProcessorExpansion Board Camera
Linear Guide System
Linear Actuator
Spool and Rolled Blade
10 cm
20 cm
1 cm
3 cm
3 cm
1 cm
3 cm
3 cm
25 cm
Electrical WiringTo ArduinoElectrical Wiring to Image Processor
Electrical Wiring to DriverFront View Deployed Blade
Deployed Blade
Act
uato
rs
28
Linear Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionLinear Servo Motor
Range of Motion +- 25 cm
Control Law Range of Motion +- 40 cm
Precision 45 mm Control Law Precision 004 mm
Velocity 31 cms Control Law Velocity 80 cms continuous
Force gt 053Nm Control Law Force 103 N continuous
Horizontal Length lt 25 mmAxial Length lt 93 mm
Design Horizontal Length 8 mmAxial Length 82 mm
Act
uato
rs
29
Mass Budget Housing Interface Assembly
Subsystem Components Mass
Mechanical -Hollow Precision Rod-Radial Bearing
-Turntable Bearing
-Mounting Components(Machined)
10 g
20g
30g
50g
Total Mass 110g
Requirement Design
Mass less than 26 kg
Total Mass 17 kg
Volume gt= 2U Total Volume 2U
Design Requirements
50 cm
318 cm
318 cm
1111 cm 4695 cm
75 cm
Electrical wires
Sensing
Sen
sing
31
Sensor Design
Camera is mounted inside the blade housing pointed towards one surface of the blade
Reflective tape will be placed on the blade facing the camera and will be illuminated via LEDs mounted to blade housing
Image processing algorithm will locate the center of the reflective tape within the camera frame and compare the location against the known position of the sensing point at no deflection
Blade will move between +- 20 degress for flapping oscillation and between +- 90 degrees for twsiting oscillation
Sen
sing
32
Camera Requirements and Selection
θmin= 5deg
θrange= 40deg
Camera Requirement Parent Requirement
Caspa VL
Field of View gt 436deg x 10deg
Blade Range of Motion
786deg x 593deg(752x480 Pixels)
Pixel Density gt 2 pixelsdegFOV
Blade Range of Motion
95 pixelsdegFOV
Frame Rate gt 2 fps Control Law 60 fps
Width = 257 cm
Length = 39 cm
Sen
sing
33
Range of Motion - Markers
ProcessedImage
Flap ModeMarkers movesame direction
Nominal marker
positions
Marker position at 20deg flap
ProcessedImage
Twist ModeMarkers move
opposite directions
Nominal marker
positions
Marker position at 90deg twist
The green box outlines the section of the image that needs to be processed It encompases a total area of 015 Megapixels
Deflection Angles
θtwist= +- 90deg θtwist per pixel= 106deg
θflap = +- 20deg θflap per pixel= 011deg
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Con
trol
Law
21
Requirements For Computational Time
Twisting mode Flapping Mode
Max Computational Time frac14 second frac14 second
Con
trol
Law
22
Summary of the Control Law Flapping (Linear Motion)
Twisting(Angular Motion)
Sensor resolution frac12 second frac12 second
Actuator range of motion
+- 13 cm +- 90 degrees
Actuator resolution 15 mm 3 degrees
Maximum Acceleration
08 ms^2 126 rads^2
Max computational Time
frac14 second frac14 second
Actuators
Act
uato
rs
24
Actuation Design Front View Deployed Blade
Top View Deployed Blade Back View
3-D View
LinearActuator
RotaryActuator
Act
uato
rs
25
Mass Budget
Subsystem
Components Mass
Structural 5 ndash 18rdquo Aluminum plates (Machined)
330g
Electronics -2 drivers- Arduino
30g35g35g
Actuators -Rotary motor w Encoder 50g
Mechanical -Bevel Gear-Mounting components
30g75g
Total Mass 585g
Full Assembly
Rear unit
65 cm
3 cm
05 cm
Rear Housing Back View
Motor Drivers
Arduino
Aluminum Plates
Bevel Gear
Electrical Wiring
Rotary Motor
3 cm 3 cm
10 cm
Rear Housing Side View
20 cm
10 cm
Rotary Motor w Encoder Bevel Gear
Mounting Components
Electrical Wiring
Wiring Through Hollow Rod
Act
uato
rs
26
Rotary Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionServo Motor w Encoder
+- 90o rotation Customer 360o motion reversible
Torque gt 16 mNm Control Law Continuous torque w 21 Gear Ratio 22 mNm
Minimum Resolution lt 3o
Control Law Encoder 036o
Fit within rear housing unit lt 5 cm axial length lt 3 cm diameter
Design 35 cm axial length22 cm diameter
Act
uato
rs
27
Mass Budget
Subsystem
Components Mass
Structural 5ndash 18rdquo Aluminum plates (Machined)
360g
Electronics -Image Processor
-Expansion Board
-Camera
15g
30g
30g
Actuators -Linear motor 20g
Mechanical -Linear Guide System
-Mounting Components
-Spool and Rolled Blade
60g
50g
300g
Total Mass 820g
Full Assembly
Front unit65 cm
3 cm
05 cm
Front View Undeployed Blade
Image ProcessorExpansion Board Camera
Linear Guide System
Linear Actuator
Spool and Rolled Blade
10 cm
20 cm
1 cm
3 cm
3 cm
1 cm
3 cm
3 cm
25 cm
Electrical WiringTo ArduinoElectrical Wiring to Image Processor
Electrical Wiring to DriverFront View Deployed Blade
Deployed Blade
Act
uato
rs
28
Linear Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionLinear Servo Motor
Range of Motion +- 25 cm
Control Law Range of Motion +- 40 cm
Precision 45 mm Control Law Precision 004 mm
Velocity 31 cms Control Law Velocity 80 cms continuous
Force gt 053Nm Control Law Force 103 N continuous
Horizontal Length lt 25 mmAxial Length lt 93 mm
Design Horizontal Length 8 mmAxial Length 82 mm
Act
uato
rs
29
Mass Budget Housing Interface Assembly
Subsystem Components Mass
Mechanical -Hollow Precision Rod-Radial Bearing
-Turntable Bearing
-Mounting Components(Machined)
10 g
20g
30g
50g
Total Mass 110g
Requirement Design
Mass less than 26 kg
Total Mass 17 kg
Volume gt= 2U Total Volume 2U
Design Requirements
50 cm
318 cm
318 cm
1111 cm 4695 cm
75 cm
Electrical wires
Sensing
Sen
sing
31
Sensor Design
Camera is mounted inside the blade housing pointed towards one surface of the blade
Reflective tape will be placed on the blade facing the camera and will be illuminated via LEDs mounted to blade housing
Image processing algorithm will locate the center of the reflective tape within the camera frame and compare the location against the known position of the sensing point at no deflection
Blade will move between +- 20 degress for flapping oscillation and between +- 90 degrees for twsiting oscillation
Sen
sing
32
Camera Requirements and Selection
θmin= 5deg
θrange= 40deg
Camera Requirement Parent Requirement
Caspa VL
Field of View gt 436deg x 10deg
Blade Range of Motion
786deg x 593deg(752x480 Pixels)
Pixel Density gt 2 pixelsdegFOV
Blade Range of Motion
95 pixelsdegFOV
Frame Rate gt 2 fps Control Law 60 fps
Width = 257 cm
Length = 39 cm
Sen
sing
33
Range of Motion - Markers
ProcessedImage
Flap ModeMarkers movesame direction
Nominal marker
positions
Marker position at 20deg flap
ProcessedImage
Twist ModeMarkers move
opposite directions
Nominal marker
positions
Marker position at 90deg twist
The green box outlines the section of the image that needs to be processed It encompases a total area of 015 Megapixels
Deflection Angles
θtwist= +- 90deg θtwist per pixel= 106deg
θflap = +- 20deg θflap per pixel= 011deg
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Con
trol
Law
22
Summary of the Control Law Flapping (Linear Motion)
Twisting(Angular Motion)
Sensor resolution frac12 second frac12 second
Actuator range of motion
+- 13 cm +- 90 degrees
Actuator resolution 15 mm 3 degrees
Maximum Acceleration
08 ms^2 126 rads^2
Max computational Time
frac14 second frac14 second
Actuators
Act
uato
rs
24
Actuation Design Front View Deployed Blade
Top View Deployed Blade Back View
3-D View
LinearActuator
RotaryActuator
Act
uato
rs
25
Mass Budget
Subsystem
Components Mass
Structural 5 ndash 18rdquo Aluminum plates (Machined)
330g
Electronics -2 drivers- Arduino
30g35g35g
Actuators -Rotary motor w Encoder 50g
Mechanical -Bevel Gear-Mounting components
30g75g
Total Mass 585g
Full Assembly
Rear unit
65 cm
3 cm
05 cm
Rear Housing Back View
Motor Drivers
Arduino
Aluminum Plates
Bevel Gear
Electrical Wiring
Rotary Motor
3 cm 3 cm
10 cm
Rear Housing Side View
20 cm
10 cm
Rotary Motor w Encoder Bevel Gear
Mounting Components
Electrical Wiring
Wiring Through Hollow Rod
Act
uato
rs
26
Rotary Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionServo Motor w Encoder
+- 90o rotation Customer 360o motion reversible
Torque gt 16 mNm Control Law Continuous torque w 21 Gear Ratio 22 mNm
Minimum Resolution lt 3o
Control Law Encoder 036o
Fit within rear housing unit lt 5 cm axial length lt 3 cm diameter
Design 35 cm axial length22 cm diameter
Act
uato
rs
27
Mass Budget
Subsystem
Components Mass
Structural 5ndash 18rdquo Aluminum plates (Machined)
360g
Electronics -Image Processor
-Expansion Board
-Camera
15g
30g
30g
Actuators -Linear motor 20g
Mechanical -Linear Guide System
-Mounting Components
-Spool and Rolled Blade
60g
50g
300g
Total Mass 820g
Full Assembly
Front unit65 cm
3 cm
05 cm
Front View Undeployed Blade
Image ProcessorExpansion Board Camera
Linear Guide System
Linear Actuator
Spool and Rolled Blade
10 cm
20 cm
1 cm
3 cm
3 cm
1 cm
3 cm
3 cm
25 cm
Electrical WiringTo ArduinoElectrical Wiring to Image Processor
Electrical Wiring to DriverFront View Deployed Blade
Deployed Blade
Act
uato
rs
28
Linear Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionLinear Servo Motor
Range of Motion +- 25 cm
Control Law Range of Motion +- 40 cm
Precision 45 mm Control Law Precision 004 mm
Velocity 31 cms Control Law Velocity 80 cms continuous
Force gt 053Nm Control Law Force 103 N continuous
Horizontal Length lt 25 mmAxial Length lt 93 mm
Design Horizontal Length 8 mmAxial Length 82 mm
Act
uato
rs
29
Mass Budget Housing Interface Assembly
Subsystem Components Mass
Mechanical -Hollow Precision Rod-Radial Bearing
-Turntable Bearing
-Mounting Components(Machined)
10 g
20g
30g
50g
Total Mass 110g
Requirement Design
Mass less than 26 kg
Total Mass 17 kg
Volume gt= 2U Total Volume 2U
Design Requirements
50 cm
318 cm
318 cm
1111 cm 4695 cm
75 cm
Electrical wires
Sensing
Sen
sing
31
Sensor Design
Camera is mounted inside the blade housing pointed towards one surface of the blade
Reflective tape will be placed on the blade facing the camera and will be illuminated via LEDs mounted to blade housing
Image processing algorithm will locate the center of the reflective tape within the camera frame and compare the location against the known position of the sensing point at no deflection
Blade will move between +- 20 degress for flapping oscillation and between +- 90 degrees for twsiting oscillation
Sen
sing
32
Camera Requirements and Selection
θmin= 5deg
θrange= 40deg
Camera Requirement Parent Requirement
Caspa VL
Field of View gt 436deg x 10deg
Blade Range of Motion
786deg x 593deg(752x480 Pixels)
Pixel Density gt 2 pixelsdegFOV
Blade Range of Motion
95 pixelsdegFOV
Frame Rate gt 2 fps Control Law 60 fps
Width = 257 cm
Length = 39 cm
Sen
sing
33
Range of Motion - Markers
ProcessedImage
Flap ModeMarkers movesame direction
Nominal marker
positions
Marker position at 20deg flap
ProcessedImage
Twist ModeMarkers move
opposite directions
Nominal marker
positions
Marker position at 90deg twist
The green box outlines the section of the image that needs to be processed It encompases a total area of 015 Megapixels
Deflection Angles
θtwist= +- 90deg θtwist per pixel= 106deg
θflap = +- 20deg θflap per pixel= 011deg
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Actuators
Act
uato
rs
24
Actuation Design Front View Deployed Blade
Top View Deployed Blade Back View
3-D View
LinearActuator
RotaryActuator
Act
uato
rs
25
Mass Budget
Subsystem
Components Mass
Structural 5 ndash 18rdquo Aluminum plates (Machined)
330g
Electronics -2 drivers- Arduino
30g35g35g
Actuators -Rotary motor w Encoder 50g
Mechanical -Bevel Gear-Mounting components
30g75g
Total Mass 585g
Full Assembly
Rear unit
65 cm
3 cm
05 cm
Rear Housing Back View
Motor Drivers
Arduino
Aluminum Plates
Bevel Gear
Electrical Wiring
Rotary Motor
3 cm 3 cm
10 cm
Rear Housing Side View
20 cm
10 cm
Rotary Motor w Encoder Bevel Gear
Mounting Components
Electrical Wiring
Wiring Through Hollow Rod
Act
uato
rs
26
Rotary Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionServo Motor w Encoder
+- 90o rotation Customer 360o motion reversible
Torque gt 16 mNm Control Law Continuous torque w 21 Gear Ratio 22 mNm
Minimum Resolution lt 3o
Control Law Encoder 036o
Fit within rear housing unit lt 5 cm axial length lt 3 cm diameter
Design 35 cm axial length22 cm diameter
Act
uato
rs
27
Mass Budget
Subsystem
Components Mass
Structural 5ndash 18rdquo Aluminum plates (Machined)
360g
Electronics -Image Processor
-Expansion Board
-Camera
15g
30g
30g
Actuators -Linear motor 20g
Mechanical -Linear Guide System
-Mounting Components
-Spool and Rolled Blade
60g
50g
300g
Total Mass 820g
Full Assembly
Front unit65 cm
3 cm
05 cm
Front View Undeployed Blade
Image ProcessorExpansion Board Camera
Linear Guide System
Linear Actuator
Spool and Rolled Blade
10 cm
20 cm
1 cm
3 cm
3 cm
1 cm
3 cm
3 cm
25 cm
Electrical WiringTo ArduinoElectrical Wiring to Image Processor
Electrical Wiring to DriverFront View Deployed Blade
Deployed Blade
Act
uato
rs
28
Linear Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionLinear Servo Motor
Range of Motion +- 25 cm
Control Law Range of Motion +- 40 cm
Precision 45 mm Control Law Precision 004 mm
Velocity 31 cms Control Law Velocity 80 cms continuous
Force gt 053Nm Control Law Force 103 N continuous
Horizontal Length lt 25 mmAxial Length lt 93 mm
Design Horizontal Length 8 mmAxial Length 82 mm
Act
uato
rs
29
Mass Budget Housing Interface Assembly
Subsystem Components Mass
Mechanical -Hollow Precision Rod-Radial Bearing
-Turntable Bearing
-Mounting Components(Machined)
10 g
20g
30g
50g
Total Mass 110g
Requirement Design
Mass less than 26 kg
Total Mass 17 kg
Volume gt= 2U Total Volume 2U
Design Requirements
50 cm
318 cm
318 cm
1111 cm 4695 cm
75 cm
Electrical wires
Sensing
Sen
sing
31
Sensor Design
Camera is mounted inside the blade housing pointed towards one surface of the blade
Reflective tape will be placed on the blade facing the camera and will be illuminated via LEDs mounted to blade housing
Image processing algorithm will locate the center of the reflective tape within the camera frame and compare the location against the known position of the sensing point at no deflection
Blade will move between +- 20 degress for flapping oscillation and between +- 90 degrees for twsiting oscillation
Sen
sing
32
Camera Requirements and Selection
θmin= 5deg
θrange= 40deg
Camera Requirement Parent Requirement
Caspa VL
Field of View gt 436deg x 10deg
Blade Range of Motion
786deg x 593deg(752x480 Pixels)
Pixel Density gt 2 pixelsdegFOV
Blade Range of Motion
95 pixelsdegFOV
Frame Rate gt 2 fps Control Law 60 fps
Width = 257 cm
Length = 39 cm
Sen
sing
33
Range of Motion - Markers
ProcessedImage
Flap ModeMarkers movesame direction
Nominal marker
positions
Marker position at 20deg flap
ProcessedImage
Twist ModeMarkers move
opposite directions
Nominal marker
positions
Marker position at 90deg twist
The green box outlines the section of the image that needs to be processed It encompases a total area of 015 Megapixels
Deflection Angles
θtwist= +- 90deg θtwist per pixel= 106deg
θflap = +- 20deg θflap per pixel= 011deg
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Act
uato
rs
24
Actuation Design Front View Deployed Blade
Top View Deployed Blade Back View
3-D View
LinearActuator
RotaryActuator
Act
uato
rs
25
Mass Budget
Subsystem
Components Mass
Structural 5 ndash 18rdquo Aluminum plates (Machined)
330g
Electronics -2 drivers- Arduino
30g35g35g
Actuators -Rotary motor w Encoder 50g
Mechanical -Bevel Gear-Mounting components
30g75g
Total Mass 585g
Full Assembly
Rear unit
65 cm
3 cm
05 cm
Rear Housing Back View
Motor Drivers
Arduino
Aluminum Plates
Bevel Gear
Electrical Wiring
Rotary Motor
3 cm 3 cm
10 cm
Rear Housing Side View
20 cm
10 cm
Rotary Motor w Encoder Bevel Gear
Mounting Components
Electrical Wiring
Wiring Through Hollow Rod
Act
uato
rs
26
Rotary Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionServo Motor w Encoder
+- 90o rotation Customer 360o motion reversible
Torque gt 16 mNm Control Law Continuous torque w 21 Gear Ratio 22 mNm
Minimum Resolution lt 3o
Control Law Encoder 036o
Fit within rear housing unit lt 5 cm axial length lt 3 cm diameter
Design 35 cm axial length22 cm diameter
Act
uato
rs
27
Mass Budget
Subsystem
Components Mass
Structural 5ndash 18rdquo Aluminum plates (Machined)
360g
Electronics -Image Processor
-Expansion Board
-Camera
15g
30g
30g
Actuators -Linear motor 20g
Mechanical -Linear Guide System
-Mounting Components
-Spool and Rolled Blade
60g
50g
300g
Total Mass 820g
Full Assembly
Front unit65 cm
3 cm
05 cm
Front View Undeployed Blade
Image ProcessorExpansion Board Camera
Linear Guide System
Linear Actuator
Spool and Rolled Blade
10 cm
20 cm
1 cm
3 cm
3 cm
1 cm
3 cm
3 cm
25 cm
Electrical WiringTo ArduinoElectrical Wiring to Image Processor
Electrical Wiring to DriverFront View Deployed Blade
Deployed Blade
Act
uato
rs
28
Linear Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionLinear Servo Motor
Range of Motion +- 25 cm
Control Law Range of Motion +- 40 cm
Precision 45 mm Control Law Precision 004 mm
Velocity 31 cms Control Law Velocity 80 cms continuous
Force gt 053Nm Control Law Force 103 N continuous
Horizontal Length lt 25 mmAxial Length lt 93 mm
Design Horizontal Length 8 mmAxial Length 82 mm
Act
uato
rs
29
Mass Budget Housing Interface Assembly
Subsystem Components Mass
Mechanical -Hollow Precision Rod-Radial Bearing
-Turntable Bearing
-Mounting Components(Machined)
10 g
20g
30g
50g
Total Mass 110g
Requirement Design
Mass less than 26 kg
Total Mass 17 kg
Volume gt= 2U Total Volume 2U
Design Requirements
50 cm
318 cm
318 cm
1111 cm 4695 cm
75 cm
Electrical wires
Sensing
Sen
sing
31
Sensor Design
Camera is mounted inside the blade housing pointed towards one surface of the blade
Reflective tape will be placed on the blade facing the camera and will be illuminated via LEDs mounted to blade housing
Image processing algorithm will locate the center of the reflective tape within the camera frame and compare the location against the known position of the sensing point at no deflection
Blade will move between +- 20 degress for flapping oscillation and between +- 90 degrees for twsiting oscillation
Sen
sing
32
Camera Requirements and Selection
θmin= 5deg
θrange= 40deg
Camera Requirement Parent Requirement
Caspa VL
Field of View gt 436deg x 10deg
Blade Range of Motion
786deg x 593deg(752x480 Pixels)
Pixel Density gt 2 pixelsdegFOV
Blade Range of Motion
95 pixelsdegFOV
Frame Rate gt 2 fps Control Law 60 fps
Width = 257 cm
Length = 39 cm
Sen
sing
33
Range of Motion - Markers
ProcessedImage
Flap ModeMarkers movesame direction
Nominal marker
positions
Marker position at 20deg flap
ProcessedImage
Twist ModeMarkers move
opposite directions
Nominal marker
positions
Marker position at 90deg twist
The green box outlines the section of the image that needs to be processed It encompases a total area of 015 Megapixels
Deflection Angles
θtwist= +- 90deg θtwist per pixel= 106deg
θflap = +- 20deg θflap per pixel= 011deg
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Act
uato
rs
25
Mass Budget
Subsystem
Components Mass
Structural 5 ndash 18rdquo Aluminum plates (Machined)
330g
Electronics -2 drivers- Arduino
30g35g35g
Actuators -Rotary motor w Encoder 50g
Mechanical -Bevel Gear-Mounting components
30g75g
Total Mass 585g
Full Assembly
Rear unit
65 cm
3 cm
05 cm
Rear Housing Back View
Motor Drivers
Arduino
Aluminum Plates
Bevel Gear
Electrical Wiring
Rotary Motor
3 cm 3 cm
10 cm
Rear Housing Side View
20 cm
10 cm
Rotary Motor w Encoder Bevel Gear
Mounting Components
Electrical Wiring
Wiring Through Hollow Rod
Act
uato
rs
26
Rotary Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionServo Motor w Encoder
+- 90o rotation Customer 360o motion reversible
Torque gt 16 mNm Control Law Continuous torque w 21 Gear Ratio 22 mNm
Minimum Resolution lt 3o
Control Law Encoder 036o
Fit within rear housing unit lt 5 cm axial length lt 3 cm diameter
Design 35 cm axial length22 cm diameter
Act
uato
rs
27
Mass Budget
Subsystem
Components Mass
Structural 5ndash 18rdquo Aluminum plates (Machined)
360g
Electronics -Image Processor
-Expansion Board
-Camera
15g
30g
30g
Actuators -Linear motor 20g
Mechanical -Linear Guide System
-Mounting Components
-Spool and Rolled Blade
60g
50g
300g
Total Mass 820g
Full Assembly
Front unit65 cm
3 cm
05 cm
Front View Undeployed Blade
Image ProcessorExpansion Board Camera
Linear Guide System
Linear Actuator
Spool and Rolled Blade
10 cm
20 cm
1 cm
3 cm
3 cm
1 cm
3 cm
3 cm
25 cm
Electrical WiringTo ArduinoElectrical Wiring to Image Processor
Electrical Wiring to DriverFront View Deployed Blade
Deployed Blade
Act
uato
rs
28
Linear Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionLinear Servo Motor
Range of Motion +- 25 cm
Control Law Range of Motion +- 40 cm
Precision 45 mm Control Law Precision 004 mm
Velocity 31 cms Control Law Velocity 80 cms continuous
Force gt 053Nm Control Law Force 103 N continuous
Horizontal Length lt 25 mmAxial Length lt 93 mm
Design Horizontal Length 8 mmAxial Length 82 mm
Act
uato
rs
29
Mass Budget Housing Interface Assembly
Subsystem Components Mass
Mechanical -Hollow Precision Rod-Radial Bearing
-Turntable Bearing
-Mounting Components(Machined)
10 g
20g
30g
50g
Total Mass 110g
Requirement Design
Mass less than 26 kg
Total Mass 17 kg
Volume gt= 2U Total Volume 2U
Design Requirements
50 cm
318 cm
318 cm
1111 cm 4695 cm
75 cm
Electrical wires
Sensing
Sen
sing
31
Sensor Design
Camera is mounted inside the blade housing pointed towards one surface of the blade
Reflective tape will be placed on the blade facing the camera and will be illuminated via LEDs mounted to blade housing
Image processing algorithm will locate the center of the reflective tape within the camera frame and compare the location against the known position of the sensing point at no deflection
Blade will move between +- 20 degress for flapping oscillation and between +- 90 degrees for twsiting oscillation
Sen
sing
32
Camera Requirements and Selection
θmin= 5deg
θrange= 40deg
Camera Requirement Parent Requirement
Caspa VL
Field of View gt 436deg x 10deg
Blade Range of Motion
786deg x 593deg(752x480 Pixels)
Pixel Density gt 2 pixelsdegFOV
Blade Range of Motion
95 pixelsdegFOV
Frame Rate gt 2 fps Control Law 60 fps
Width = 257 cm
Length = 39 cm
Sen
sing
33
Range of Motion - Markers
ProcessedImage
Flap ModeMarkers movesame direction
Nominal marker
positions
Marker position at 20deg flap
ProcessedImage
Twist ModeMarkers move
opposite directions
Nominal marker
positions
Marker position at 90deg twist
The green box outlines the section of the image that needs to be processed It encompases a total area of 015 Megapixels
Deflection Angles
θtwist= +- 90deg θtwist per pixel= 106deg
θflap = +- 20deg θflap per pixel= 011deg
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Act
uato
rs
26
Rotary Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionServo Motor w Encoder
+- 90o rotation Customer 360o motion reversible
Torque gt 16 mNm Control Law Continuous torque w 21 Gear Ratio 22 mNm
Minimum Resolution lt 3o
Control Law Encoder 036o
Fit within rear housing unit lt 5 cm axial length lt 3 cm diameter
Design 35 cm axial length22 cm diameter
Act
uato
rs
27
Mass Budget
Subsystem
Components Mass
Structural 5ndash 18rdquo Aluminum plates (Machined)
360g
Electronics -Image Processor
-Expansion Board
-Camera
15g
30g
30g
Actuators -Linear motor 20g
Mechanical -Linear Guide System
-Mounting Components
-Spool and Rolled Blade
60g
50g
300g
Total Mass 820g
Full Assembly
Front unit65 cm
3 cm
05 cm
Front View Undeployed Blade
Image ProcessorExpansion Board Camera
Linear Guide System
Linear Actuator
Spool and Rolled Blade
10 cm
20 cm
1 cm
3 cm
3 cm
1 cm
3 cm
3 cm
25 cm
Electrical WiringTo ArduinoElectrical Wiring to Image Processor
Electrical Wiring to DriverFront View Deployed Blade
Deployed Blade
Act
uato
rs
28
Linear Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionLinear Servo Motor
Range of Motion +- 25 cm
Control Law Range of Motion +- 40 cm
Precision 45 mm Control Law Precision 004 mm
Velocity 31 cms Control Law Velocity 80 cms continuous
Force gt 053Nm Control Law Force 103 N continuous
Horizontal Length lt 25 mmAxial Length lt 93 mm
Design Horizontal Length 8 mmAxial Length 82 mm
Act
uato
rs
29
Mass Budget Housing Interface Assembly
Subsystem Components Mass
Mechanical -Hollow Precision Rod-Radial Bearing
-Turntable Bearing
-Mounting Components(Machined)
10 g
20g
30g
50g
Total Mass 110g
Requirement Design
Mass less than 26 kg
Total Mass 17 kg
Volume gt= 2U Total Volume 2U
Design Requirements
50 cm
318 cm
318 cm
1111 cm 4695 cm
75 cm
Electrical wires
Sensing
Sen
sing
31
Sensor Design
Camera is mounted inside the blade housing pointed towards one surface of the blade
Reflective tape will be placed on the blade facing the camera and will be illuminated via LEDs mounted to blade housing
Image processing algorithm will locate the center of the reflective tape within the camera frame and compare the location against the known position of the sensing point at no deflection
Blade will move between +- 20 degress for flapping oscillation and between +- 90 degrees for twsiting oscillation
Sen
sing
32
Camera Requirements and Selection
θmin= 5deg
θrange= 40deg
Camera Requirement Parent Requirement
Caspa VL
Field of View gt 436deg x 10deg
Blade Range of Motion
786deg x 593deg(752x480 Pixels)
Pixel Density gt 2 pixelsdegFOV
Blade Range of Motion
95 pixelsdegFOV
Frame Rate gt 2 fps Control Law 60 fps
Width = 257 cm
Length = 39 cm
Sen
sing
33
Range of Motion - Markers
ProcessedImage
Flap ModeMarkers movesame direction
Nominal marker
positions
Marker position at 20deg flap
ProcessedImage
Twist ModeMarkers move
opposite directions
Nominal marker
positions
Marker position at 90deg twist
The green box outlines the section of the image that needs to be processed It encompases a total area of 015 Megapixels
Deflection Angles
θtwist= +- 90deg θtwist per pixel= 106deg
θflap = +- 20deg θflap per pixel= 011deg
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Act
uato
rs
27
Mass Budget
Subsystem
Components Mass
Structural 5ndash 18rdquo Aluminum plates (Machined)
360g
Electronics -Image Processor
-Expansion Board
-Camera
15g
30g
30g
Actuators -Linear motor 20g
Mechanical -Linear Guide System
-Mounting Components
-Spool and Rolled Blade
60g
50g
300g
Total Mass 820g
Full Assembly
Front unit65 cm
3 cm
05 cm
Front View Undeployed Blade
Image ProcessorExpansion Board Camera
Linear Guide System
Linear Actuator
Spool and Rolled Blade
10 cm
20 cm
1 cm
3 cm
3 cm
1 cm
3 cm
3 cm
25 cm
Electrical WiringTo ArduinoElectrical Wiring to Image Processor
Electrical Wiring to DriverFront View Deployed Blade
Deployed Blade
Act
uato
rs
28
Linear Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionLinear Servo Motor
Range of Motion +- 25 cm
Control Law Range of Motion +- 40 cm
Precision 45 mm Control Law Precision 004 mm
Velocity 31 cms Control Law Velocity 80 cms continuous
Force gt 053Nm Control Law Force 103 N continuous
Horizontal Length lt 25 mmAxial Length lt 93 mm
Design Horizontal Length 8 mmAxial Length 82 mm
Act
uato
rs
29
Mass Budget Housing Interface Assembly
Subsystem Components Mass
Mechanical -Hollow Precision Rod-Radial Bearing
-Turntable Bearing
-Mounting Components(Machined)
10 g
20g
30g
50g
Total Mass 110g
Requirement Design
Mass less than 26 kg
Total Mass 17 kg
Volume gt= 2U Total Volume 2U
Design Requirements
50 cm
318 cm
318 cm
1111 cm 4695 cm
75 cm
Electrical wires
Sensing
Sen
sing
31
Sensor Design
Camera is mounted inside the blade housing pointed towards one surface of the blade
Reflective tape will be placed on the blade facing the camera and will be illuminated via LEDs mounted to blade housing
Image processing algorithm will locate the center of the reflective tape within the camera frame and compare the location against the known position of the sensing point at no deflection
Blade will move between +- 20 degress for flapping oscillation and between +- 90 degrees for twsiting oscillation
Sen
sing
32
Camera Requirements and Selection
θmin= 5deg
θrange= 40deg
Camera Requirement Parent Requirement
Caspa VL
Field of View gt 436deg x 10deg
Blade Range of Motion
786deg x 593deg(752x480 Pixels)
Pixel Density gt 2 pixelsdegFOV
Blade Range of Motion
95 pixelsdegFOV
Frame Rate gt 2 fps Control Law 60 fps
Width = 257 cm
Length = 39 cm
Sen
sing
33
Range of Motion - Markers
ProcessedImage
Flap ModeMarkers movesame direction
Nominal marker
positions
Marker position at 20deg flap
ProcessedImage
Twist ModeMarkers move
opposite directions
Nominal marker
positions
Marker position at 90deg twist
The green box outlines the section of the image that needs to be processed It encompases a total area of 015 Megapixels
Deflection Angles
θtwist= +- 90deg θtwist per pixel= 106deg
θflap = +- 20deg θflap per pixel= 011deg
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Act
uato
rs
28
Linear Actuator Requirements and Solution
Actuator Requirement
Parent Requirement
SolutionLinear Servo Motor
Range of Motion +- 25 cm
Control Law Range of Motion +- 40 cm
Precision 45 mm Control Law Precision 004 mm
Velocity 31 cms Control Law Velocity 80 cms continuous
Force gt 053Nm Control Law Force 103 N continuous
Horizontal Length lt 25 mmAxial Length lt 93 mm
Design Horizontal Length 8 mmAxial Length 82 mm
Act
uato
rs
29
Mass Budget Housing Interface Assembly
Subsystem Components Mass
Mechanical -Hollow Precision Rod-Radial Bearing
-Turntable Bearing
-Mounting Components(Machined)
10 g
20g
30g
50g
Total Mass 110g
Requirement Design
Mass less than 26 kg
Total Mass 17 kg
Volume gt= 2U Total Volume 2U
Design Requirements
50 cm
318 cm
318 cm
1111 cm 4695 cm
75 cm
Electrical wires
Sensing
Sen
sing
31
Sensor Design
Camera is mounted inside the blade housing pointed towards one surface of the blade
Reflective tape will be placed on the blade facing the camera and will be illuminated via LEDs mounted to blade housing
Image processing algorithm will locate the center of the reflective tape within the camera frame and compare the location against the known position of the sensing point at no deflection
Blade will move between +- 20 degress for flapping oscillation and between +- 90 degrees for twsiting oscillation
Sen
sing
32
Camera Requirements and Selection
θmin= 5deg
θrange= 40deg
Camera Requirement Parent Requirement
Caspa VL
Field of View gt 436deg x 10deg
Blade Range of Motion
786deg x 593deg(752x480 Pixels)
Pixel Density gt 2 pixelsdegFOV
Blade Range of Motion
95 pixelsdegFOV
Frame Rate gt 2 fps Control Law 60 fps
Width = 257 cm
Length = 39 cm
Sen
sing
33
Range of Motion - Markers
ProcessedImage
Flap ModeMarkers movesame direction
Nominal marker
positions
Marker position at 20deg flap
ProcessedImage
Twist ModeMarkers move
opposite directions
Nominal marker
positions
Marker position at 90deg twist
The green box outlines the section of the image that needs to be processed It encompases a total area of 015 Megapixels
Deflection Angles
θtwist= +- 90deg θtwist per pixel= 106deg
θflap = +- 20deg θflap per pixel= 011deg
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Act
uato
rs
29
Mass Budget Housing Interface Assembly
Subsystem Components Mass
Mechanical -Hollow Precision Rod-Radial Bearing
-Turntable Bearing
-Mounting Components(Machined)
10 g
20g
30g
50g
Total Mass 110g
Requirement Design
Mass less than 26 kg
Total Mass 17 kg
Volume gt= 2U Total Volume 2U
Design Requirements
50 cm
318 cm
318 cm
1111 cm 4695 cm
75 cm
Electrical wires
Sensing
Sen
sing
31
Sensor Design
Camera is mounted inside the blade housing pointed towards one surface of the blade
Reflective tape will be placed on the blade facing the camera and will be illuminated via LEDs mounted to blade housing
Image processing algorithm will locate the center of the reflective tape within the camera frame and compare the location against the known position of the sensing point at no deflection
Blade will move between +- 20 degress for flapping oscillation and between +- 90 degrees for twsiting oscillation
Sen
sing
32
Camera Requirements and Selection
θmin= 5deg
θrange= 40deg
Camera Requirement Parent Requirement
Caspa VL
Field of View gt 436deg x 10deg
Blade Range of Motion
786deg x 593deg(752x480 Pixels)
Pixel Density gt 2 pixelsdegFOV
Blade Range of Motion
95 pixelsdegFOV
Frame Rate gt 2 fps Control Law 60 fps
Width = 257 cm
Length = 39 cm
Sen
sing
33
Range of Motion - Markers
ProcessedImage
Flap ModeMarkers movesame direction
Nominal marker
positions
Marker position at 20deg flap
ProcessedImage
Twist ModeMarkers move
opposite directions
Nominal marker
positions
Marker position at 90deg twist
The green box outlines the section of the image that needs to be processed It encompases a total area of 015 Megapixels
Deflection Angles
θtwist= +- 90deg θtwist per pixel= 106deg
θflap = +- 20deg θflap per pixel= 011deg
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Sensing
Sen
sing
31
Sensor Design
Camera is mounted inside the blade housing pointed towards one surface of the blade
Reflective tape will be placed on the blade facing the camera and will be illuminated via LEDs mounted to blade housing
Image processing algorithm will locate the center of the reflective tape within the camera frame and compare the location against the known position of the sensing point at no deflection
Blade will move between +- 20 degress for flapping oscillation and between +- 90 degrees for twsiting oscillation
Sen
sing
32
Camera Requirements and Selection
θmin= 5deg
θrange= 40deg
Camera Requirement Parent Requirement
Caspa VL
Field of View gt 436deg x 10deg
Blade Range of Motion
786deg x 593deg(752x480 Pixels)
Pixel Density gt 2 pixelsdegFOV
Blade Range of Motion
95 pixelsdegFOV
Frame Rate gt 2 fps Control Law 60 fps
Width = 257 cm
Length = 39 cm
Sen
sing
33
Range of Motion - Markers
ProcessedImage
Flap ModeMarkers movesame direction
Nominal marker
positions
Marker position at 20deg flap
ProcessedImage
Twist ModeMarkers move
opposite directions
Nominal marker
positions
Marker position at 90deg twist
The green box outlines the section of the image that needs to be processed It encompases a total area of 015 Megapixels
Deflection Angles
θtwist= +- 90deg θtwist per pixel= 106deg
θflap = +- 20deg θflap per pixel= 011deg
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Sen
sing
31
Sensor Design
Camera is mounted inside the blade housing pointed towards one surface of the blade
Reflective tape will be placed on the blade facing the camera and will be illuminated via LEDs mounted to blade housing
Image processing algorithm will locate the center of the reflective tape within the camera frame and compare the location against the known position of the sensing point at no deflection
Blade will move between +- 20 degress for flapping oscillation and between +- 90 degrees for twsiting oscillation
Sen
sing
32
Camera Requirements and Selection
θmin= 5deg
θrange= 40deg
Camera Requirement Parent Requirement
Caspa VL
Field of View gt 436deg x 10deg
Blade Range of Motion
786deg x 593deg(752x480 Pixels)
Pixel Density gt 2 pixelsdegFOV
Blade Range of Motion
95 pixelsdegFOV
Frame Rate gt 2 fps Control Law 60 fps
Width = 257 cm
Length = 39 cm
Sen
sing
33
Range of Motion - Markers
ProcessedImage
Flap ModeMarkers movesame direction
Nominal marker
positions
Marker position at 20deg flap
ProcessedImage
Twist ModeMarkers move
opposite directions
Nominal marker
positions
Marker position at 90deg twist
The green box outlines the section of the image that needs to be processed It encompases a total area of 015 Megapixels
Deflection Angles
θtwist= +- 90deg θtwist per pixel= 106deg
θflap = +- 20deg θflap per pixel= 011deg
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Sen
sing
32
Camera Requirements and Selection
θmin= 5deg
θrange= 40deg
Camera Requirement Parent Requirement
Caspa VL
Field of View gt 436deg x 10deg
Blade Range of Motion
786deg x 593deg(752x480 Pixels)
Pixel Density gt 2 pixelsdegFOV
Blade Range of Motion
95 pixelsdegFOV
Frame Rate gt 2 fps Control Law 60 fps
Width = 257 cm
Length = 39 cm
Sen
sing
33
Range of Motion - Markers
ProcessedImage
Flap ModeMarkers movesame direction
Nominal marker
positions
Marker position at 20deg flap
ProcessedImage
Twist ModeMarkers move
opposite directions
Nominal marker
positions
Marker position at 90deg twist
The green box outlines the section of the image that needs to be processed It encompases a total area of 015 Megapixels
Deflection Angles
θtwist= +- 90deg θtwist per pixel= 106deg
θflap = +- 20deg θflap per pixel= 011deg
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Sen
sing
33
Range of Motion - Markers
ProcessedImage
Flap ModeMarkers movesame direction
Nominal marker
positions
Marker position at 20deg flap
ProcessedImage
Twist ModeMarkers move
opposite directions
Nominal marker
positions
Marker position at 90deg twist
The green box outlines the section of the image that needs to be processed It encompases a total area of 015 Megapixels
Deflection Angles
θtwist= +- 90deg θtwist per pixel= 106deg
θflap = +- 20deg θflap per pixel= 011deg
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Sen
sing
34
Sensor Deflection Calculations
Raw Image Filtered Binary Image
50 lt L lt 255 0 lt Cr lt 125 0 lt Cb lt 255
Marker 1328 626
Marker 2396 624
Marker Centroid Locations In
Pixels
Flap angle ~0 degrees
Twist angle ~0 degrees
Deflection Angles Calculated1cm x 1cm teflon tape
markers located 2 meters from the camera
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Electronics
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Ele
ctro
nics
36
Motor Controller
To Bus
To Gumstix From Gumstix
From Bus
84 MHz Processor
Requirements Arduino DUE
2 Receive and 2 Transmit Pins
4 Receive and 4 Transmit Pins
2 USB Ports 2 USB Ports
Fit in 2U CubeSat Volume
1016 cm x 5334 cm
Serial Receive and Transmit Pins(TTL)
1016 cm
5334 cm
Language based on C
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Ele
ctro
nics
37
Image Processor Overo
Ribbon Connection
Mini SD Card Slot
1 GHz Processor
Ribbon Connection built to be compatible with selected camera (Caspa VL)
1 GHz processor512 MB RAM (81 MB in imagessec)Mini SD Card slot for additional storage
Requirements Overo
Interface with camera Ribbon Connection
Provide angular rate and mode at least 2 times a second
Predicted to give angular rate and mode 7 times a second
Store up to 48 Gigabytes in images from camera
Mini SD Card slot allows up to 64 GB SD Card
Fit in 2U CubeSat Volume 58 cm x 17 cm x 042 cm
1 USB Port No USB Port Need Expansion Board
17 cm
58 cm
042 cm
Runs Linux (Ubuntu) code written in C image processing library is OpenCV
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Ele
ctro
nics
38
Expansion Board Pinto
762 cm
23 cm
USB Port
Requirements Pinto
1 USB Port 1 USB Port
Interface with Overo Connects directly to Overo
Overo Connector
Overo Connector
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Ele
ctro
nics
39
Connection Diagram
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Ele
ctro
nics
40
Power
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Ele
ctro
nics
41
Power BudgetDevice Source Voltage
RequirementsCurrent Draw Continuously
PoweredPower
Encoder Faulhaber 45-55 V 9 mA Yes 004-005 W
Linear Motor and controller
Faulhaber 5 V 278 mA No 139 W
Rotary Motor and controller
Faulhaber 5 V 27 A No 134 W
Pinto-TH Gumstix Overo 5 V 250 mA Yes 125 W
Airstorm-P Gumstix Overo 4 V 250 mA Yes 1 W
Arduino Due SparkFun 7-12 V 50 mA Yes 035 - 06 W
(2x TTL-RS232 converters)
SparkFun 33 V 10 mA Yes 007 W
LED Thumb Lite 15 V 400 mA Yes 06 W
Peak Power 185 - 188 W
Continuous Power 41 - 44 W
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Ele
ctro
nics
42
Software
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Ele
ctro
nics
43
Image Processor
Component What it Does Time
Receive Image Enable 91 bits at 9600 baud 00095 sec
Camera ActuationStore Takes picturestores picture
00167 sec
Image Processing Function Calculates Angle Rate Mode
00200 sec
Send Angle Rate Mode 91 bits at 9600 baud 00095 sec
Receive Image Enable From
Motor Controller
Perform Logic Check
Give Camera
Actuation Command
Store Image
Call Image Processing Function (written
by SPECTRE)
Send Angular Rate Mode to
Motor Controller
00095 sec002 sec 00095 sec
00167 sec
TOTAL TIME = 00462 sec 216 Hz
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Ele
ctro
nics
44
Motor Controller
Component What it Does Time
Receive Pitch Command 91 bits at 9600 baud 00095 sec
Send Command to Pitch Motor Pause to transfer command receive feedback angle 00200 sec
Enable Image Capture Turn on Image Capture 00095 sec
Waiting on Image Processor Allows time for Image Processing Code to run 00462 sec
Receive Angle Rate Mode 91 bits at 9600 baud 00095 sec
Check Mode Implement Control Law
Logic check on mode scales anglular rate by appropriate Kd
00000 sec
Send Damping Command Pause to transfer command receive feedback angle 00200 sec
Receive Pitch Command Control Law Enable From Labview VI
Enable Image
Capture Relative Angle
Send Command to Pitch
Motor
Check Mode
Implement Control Law
Send Damping
Command to Appropriate
Actuator
Wait on Image
Processor
00095 sec00095 sec
00095 sec00462 sec
0020 sec0020 sec
TOTAL TIME = 01147 sec 87 Hz 4 Hz Required
Receive Angular
Rate Mode
0000 sec
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Verification and Validation
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Ver
ific
atio
n an
d V
alid
atio
n
46
Test SetupA scaled rope ladder blade analog will be tested with to validate the controller
bull Blade Dimensions 22 meters by 15 centimeters
Blade testible indoors = ~13 Hz = ~715 Hz Frequences are approximately 60 times faster than those expected
from the blade in space
bull Markers placed 2 meters down the blade Tip not being measuredfilmed directly Direct tip measurement not possible for full scale blade
bull Modes will be excited manually
Markers
015 m
Blade Tip
2m
Contoller Blade Housing
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Ver
ific
atio
n an
d V
alid
atio
n
47
Manual Mode Excitation
Flapp Mode Twist Mode
Ver
ific
atio
n an
d V
alid
atio
n
48
Test Setup Air DampingTwisting Oscillation
Flapping Oscillation
Elasped Time (s)Elasped Time (s)
Fla
p A
ngle
(de
g)
Twis
t Ang
le (
deg)
120577 cong 000 50 120577 cong 00055
Ver
ific
atio
n an
d V
alid
atio
n
49
Flapping mode Control Law
Sensor resolution 110 degree
Resolution ⅙ framessecond
Actuator resolution 25 millimeter
Computational Time
160 seconds
Air damping ~0050
Damping ratio 0137
Control Law 0077
Ver
ific
atio
n an
d V
alid
atio
n
50
Twisting Mode Control Law
Sensor resolution 1 degree
Resolution ⅙ framessecond
Actuator resolution 36 degree
Computational Time 160 seconds
Air damping ~0055
Damping ratio 0205
Control Law 0150
Project Risk
Ris
k
52
Risk Assessment
1
5 6 23
4
Consequence
Like
liho
od
Very High
Very Low
Minimal Catastrophic
1) Controller cannot measure defection angles accurately enough
2) Controller requires faster sampling than the sensors can provide
3) Mode coupling disrupts controller operations
4) Project is over budget
5) Components brokenneed replacements
6) HousingBus cannot be assembled on schedule
AcceptableRisk
Risk Acceptable with Contingency Plans
Unacceptable Risk
Ris
k
53
Risk ManagementRisk 1 Controller cannot measure deflection angles accurately enough
Contingency Plan Testing can be performed in a lighted environment Cameras can be moved to closer to the markers
Risk 2 Controller requires faster sampling than the sensors can provide
Contingency Plan Larger blades (~4m) can be tested decreasing mode frequencies and sampling rate requirments by (~50) Electronic baud rates can be increased from 9600 to 57600 Baud
Risk 3 Mode coupling disrupts operation of the Controller
Contingency Plan Smaller gains can be applied to the controller Modes of the blade can be excited mechanically Larger tip masses can be used to give the blade more in
Project Planning
Pla
nnin
g
55
Organizational Chart
SPECTRE
Micheal Andrews
Software Lead
Financial Coordinator
Brendon Barela
Manufacturing Lead
Austin Cerny
Testing Lead
Project Manager
Corinne Desroches
Electronics Lead
Kyle Edson
Systems Lead
Safety Lead
Conrad Gabel
Mechanical Lead
Chris Riesco
Sensing Lead
Justin Yong
Controls Lead
Pla
nnin
g
56
Work Breakdown Structure
SPECTRE
ManufacturingTesting
Bus Assembly
Blade Root Housing Assembly
Test Blade Analog
Mechanical
Installed Linear Actuator
Installed Rotary Actuator
Installed Gearbox Connection
Software
C++ Image Processing Algorithm
C++ Control Law Algorithm
Controls
Torsional Mode Model
Flapping Mode Model
Electronics
Installed Motor Controller
Installed Image Processor
Systems
Power Connection to all Electronic
Components
ControllerDriver Interface
Connection
Image ProcessorControlle
r Interface Connection
Sensing
Installed Cameras
Image Processing Subsystem
Pla
nnin
g
57
Work Plan
Sp
rin
g B
reak
Classes Start MSR TRR Spring Final Report Symposium
ManufacturingSoftwareMechanicalElectricalSystems
Pla
nnin
g
58
Work Plan Critical Path
Sp
rin
g B
reak
Classes Start MSR TRR Spring Final Report Symposium
ManufacturingSoftwareMechanicalElectricalSystems
Pla
nnin
g
59
Cost Plan
Component Number Needed
Lead Times (Weeks)
Cost per Component
Total Price
Overo Firestorm-P 1 3 $15900 $ 15900
Pinto 1 3 $ 2750 $ 2750
Power Adapters 2 3 $ 1000 $ 2000
Caspa VL 1 3 $ 7500 $ 7500
Micro SD 1 0 $ 5000 $ 5000
Arduino DUE 1 6-8 $ 5000 $ 5000
USB Cable 3 0 $ 300 $ 900
Linear Motor 1 3 $69000 $ 69000
Linear Motor Driver 1 8 $22600 $ 22600
Rotary Motor 1 3 $22000 $ 22000
Rotary Motor Driver 1 6-8 $22600 $ 22600
LEDs 2 0 $ 1000 $ 1000
Aluminum Sheet 1 1 $ 5000 $ 5000
Misc Wires 0 $10000 $ 10000
Misc Screws 0 $10000 $ 10000
Rotary Encoder 1 3 $ 5000 $ 5000
Hardened Steel Shaft 1 1 $ 2400 $ 2400
Linear Bearing with Pillow Block 1 1 $ 4000 $ 4000
Shaft Support 2 1 $ 4400 $ 4400
Bevel Gear 1 1 $ 5000 $ 5000
Turntable Bearing 1 1 $ 500 $ 500
Radial Berings 1 1 $ 500 $ 500
Precision Shaft (hollow) 1 1 $ 4000 $ 4000
Mounting Components 1 1 $ 4000 $ 4000
TOTAL $ 230050
Margin=$269950
gt50 Total Budget
enough to repurchase every component in case of failure
Pla
nnin
g
60
Test Plan
TestApproxima
te DateDescription Purpose
Sensors Collecting Data
EquipmentFacilities Needed
1 Feb 2 -9Camera Takes Image of
Test BladeMarkers
Ensure markers are visible and Image Processesing
Filter is accurateOvero Camera
Dark 1 Story Room 1-4 wall outlets
1-4 power supplies
2 March 2-9
Blade Flapping and Pitching Modes are
Excited and Filmed With Camera
Confirm sensors are installed correctly and angle measurement
sampling rate is sufficent
Overo Camera
3March 9 -
16Blade Is Commanded to
Pitch 90 degrees
Confirm actuatorsdrivers are correctly installed controller has required
range of motion
Rotary Encoder
4 April 6-20Blade Flapping and Pitching Modes are
Excited and Damped
VerficationValidation of Controller
Rotary Encoder Overo Camera
Backup Slides
Bac
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62
Frequency Testing Tested Bladesbull Several ldquoRope Ladderrdquo blades with similar masses to sail blades of the same area were built to
test the accuracy of the frequency estimatesbull Modes were excited manually and filmed to observe frequenciesbull Blade Frequencies matched predicted frequencies lt 3 error
Blade Length (m)Width (m) AR Mblade(g) Mtip(g)
1 15 01 15 0034 012
2 15 01 15 0034 204
3 1 01 10 0023 013
4 15 02 75 0034 024
Blade
Predicte
d
Observe
d
Error
Predicted
Observe
d
Error
1 0420 0428 200 0588 0600 204
2 0407 0400 171 0571 0577 105
3 0509 0508 004 07122 0732 273
4 0414 0417 072 0579 0588 115
Scaled Test Blade Being Filmed
MarkerCameraMotion of
Blade
Blade Tip
Bac
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63
Damping RatiosBlades oscillations need to be small enough to preserve 95 of the
surface area of the blade exposed to the solar flux
TwistingMaximum amplitude of 125 minute window (18 orbital period in LEO) for blades to settle201 radminute oscillation frequency
FlappingMaximum amplitudes (~1-2) always less than50 damping in frac12 orbital period (45 minutes)293 radminute oscillation frequency
Bac
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64
Time Requirements
The Controller Continues to act like a controller at 91 seconds
At 1 second the controller does not display the desired characteristics
1 second Time step91 Second Time step
Bac
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65
Requirement for Actuators
Linear Actuator Position Rotary Actuator Position
Bac
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66
Requirements for Rotary Actuators
Resolution of 3 degreeResolution of 4 degree
Bac
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67
Requirements for Linear Actuators
Resolution of 14mmResolution of 3mm
Bac
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68
Requirements for Actuators
Linear accelerationAngular Acceleration
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69
Requirements for damping system
Addition of ⅓ computation time
Flapping ModeTwisting Mode
Bac
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70
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
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71
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
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72
State Space model Twisting Mode Kgyro is non existent in
the earth setting only 2-DOF were used
for the model
Bac
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73
Membrane-Ladder Assumption
Assumes no materialstructural damping
The membrane in between the elements are mass-less
Experimental results have shown good correlation with this FEM theory
Can accurately predict the motion of the pitching mode
Gyroscopic stiffness is not included on earth
Centripetal stiffness is now sitffness by gravity
SourceHeliogyro Solar Sail Blade Twist Stability Analysis of Root and Reflectivity Controllers
Bac
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74
Control Law Assumptions
The Solar Sail material has almost no material damping
Without the Control Law the flapping mode of the solar sail acts like an air damped pendulum
The twisting and flapping mode are considered uncoupled and can not influence each other
Root
Tip
Solar Sail
Bac
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75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
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76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
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77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
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78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
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79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
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80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
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81
Linear Motion Requirement
θ
bull
Bac
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82
Binding Ratio
L
D
a
Bac
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83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
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84
Gear Ratio bull
r
Bac
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85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
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86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
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87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
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88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
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89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
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90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
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91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
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92
Camera Requirements Geometry
Bac
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93
Encoder Wiring
Bac
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94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
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95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Ver
ific
atio
n an
d V
alid
atio
n
49
Flapping mode Control Law
Sensor resolution 110 degree
Resolution ⅙ framessecond
Actuator resolution 25 millimeter
Computational Time
160 seconds
Air damping ~0050
Damping ratio 0137
Control Law 0077
Ver
ific
atio
n an
d V
alid
atio
n
50
Twisting Mode Control Law
Sensor resolution 1 degree
Resolution ⅙ framessecond
Actuator resolution 36 degree
Computational Time 160 seconds
Air damping ~0055
Damping ratio 0205
Control Law 0150
Project Risk
Ris
k
52
Risk Assessment
1
5 6 23
4
Consequence
Like
liho
od
Very High
Very Low
Minimal Catastrophic
1) Controller cannot measure defection angles accurately enough
2) Controller requires faster sampling than the sensors can provide
3) Mode coupling disrupts controller operations
4) Project is over budget
5) Components brokenneed replacements
6) HousingBus cannot be assembled on schedule
AcceptableRisk
Risk Acceptable with Contingency Plans
Unacceptable Risk
Ris
k
53
Risk ManagementRisk 1 Controller cannot measure deflection angles accurately enough
Contingency Plan Testing can be performed in a lighted environment Cameras can be moved to closer to the markers
Risk 2 Controller requires faster sampling than the sensors can provide
Contingency Plan Larger blades (~4m) can be tested decreasing mode frequencies and sampling rate requirments by (~50) Electronic baud rates can be increased from 9600 to 57600 Baud
Risk 3 Mode coupling disrupts operation of the Controller
Contingency Plan Smaller gains can be applied to the controller Modes of the blade can be excited mechanically Larger tip masses can be used to give the blade more in
Project Planning
Pla
nnin
g
55
Organizational Chart
SPECTRE
Micheal Andrews
Software Lead
Financial Coordinator
Brendon Barela
Manufacturing Lead
Austin Cerny
Testing Lead
Project Manager
Corinne Desroches
Electronics Lead
Kyle Edson
Systems Lead
Safety Lead
Conrad Gabel
Mechanical Lead
Chris Riesco
Sensing Lead
Justin Yong
Controls Lead
Pla
nnin
g
56
Work Breakdown Structure
SPECTRE
ManufacturingTesting
Bus Assembly
Blade Root Housing Assembly
Test Blade Analog
Mechanical
Installed Linear Actuator
Installed Rotary Actuator
Installed Gearbox Connection
Software
C++ Image Processing Algorithm
C++ Control Law Algorithm
Controls
Torsional Mode Model
Flapping Mode Model
Electronics
Installed Motor Controller
Installed Image Processor
Systems
Power Connection to all Electronic
Components
ControllerDriver Interface
Connection
Image ProcessorControlle
r Interface Connection
Sensing
Installed Cameras
Image Processing Subsystem
Pla
nnin
g
57
Work Plan
Sp
rin
g B
reak
Classes Start MSR TRR Spring Final Report Symposium
ManufacturingSoftwareMechanicalElectricalSystems
Pla
nnin
g
58
Work Plan Critical Path
Sp
rin
g B
reak
Classes Start MSR TRR Spring Final Report Symposium
ManufacturingSoftwareMechanicalElectricalSystems
Pla
nnin
g
59
Cost Plan
Component Number Needed
Lead Times (Weeks)
Cost per Component
Total Price
Overo Firestorm-P 1 3 $15900 $ 15900
Pinto 1 3 $ 2750 $ 2750
Power Adapters 2 3 $ 1000 $ 2000
Caspa VL 1 3 $ 7500 $ 7500
Micro SD 1 0 $ 5000 $ 5000
Arduino DUE 1 6-8 $ 5000 $ 5000
USB Cable 3 0 $ 300 $ 900
Linear Motor 1 3 $69000 $ 69000
Linear Motor Driver 1 8 $22600 $ 22600
Rotary Motor 1 3 $22000 $ 22000
Rotary Motor Driver 1 6-8 $22600 $ 22600
LEDs 2 0 $ 1000 $ 1000
Aluminum Sheet 1 1 $ 5000 $ 5000
Misc Wires 0 $10000 $ 10000
Misc Screws 0 $10000 $ 10000
Rotary Encoder 1 3 $ 5000 $ 5000
Hardened Steel Shaft 1 1 $ 2400 $ 2400
Linear Bearing with Pillow Block 1 1 $ 4000 $ 4000
Shaft Support 2 1 $ 4400 $ 4400
Bevel Gear 1 1 $ 5000 $ 5000
Turntable Bearing 1 1 $ 500 $ 500
Radial Berings 1 1 $ 500 $ 500
Precision Shaft (hollow) 1 1 $ 4000 $ 4000
Mounting Components 1 1 $ 4000 $ 4000
TOTAL $ 230050
Margin=$269950
gt50 Total Budget
enough to repurchase every component in case of failure
Pla
nnin
g
60
Test Plan
TestApproxima
te DateDescription Purpose
Sensors Collecting Data
EquipmentFacilities Needed
1 Feb 2 -9Camera Takes Image of
Test BladeMarkers
Ensure markers are visible and Image Processesing
Filter is accurateOvero Camera
Dark 1 Story Room 1-4 wall outlets
1-4 power supplies
2 March 2-9
Blade Flapping and Pitching Modes are
Excited and Filmed With Camera
Confirm sensors are installed correctly and angle measurement
sampling rate is sufficent
Overo Camera
3March 9 -
16Blade Is Commanded to
Pitch 90 degrees
Confirm actuatorsdrivers are correctly installed controller has required
range of motion
Rotary Encoder
4 April 6-20Blade Flapping and Pitching Modes are
Excited and Damped
VerficationValidation of Controller
Rotary Encoder Overo Camera
Backup Slides
Bac
kups
62
Frequency Testing Tested Bladesbull Several ldquoRope Ladderrdquo blades with similar masses to sail blades of the same area were built to
test the accuracy of the frequency estimatesbull Modes were excited manually and filmed to observe frequenciesbull Blade Frequencies matched predicted frequencies lt 3 error
Blade Length (m)Width (m) AR Mblade(g) Mtip(g)
1 15 01 15 0034 012
2 15 01 15 0034 204
3 1 01 10 0023 013
4 15 02 75 0034 024
Blade
Predicte
d
Observe
d
Error
Predicted
Observe
d
Error
1 0420 0428 200 0588 0600 204
2 0407 0400 171 0571 0577 105
3 0509 0508 004 07122 0732 273
4 0414 0417 072 0579 0588 115
Scaled Test Blade Being Filmed
MarkerCameraMotion of
Blade
Blade Tip
Bac
kups
63
Damping RatiosBlades oscillations need to be small enough to preserve 95 of the
surface area of the blade exposed to the solar flux
TwistingMaximum amplitude of 125 minute window (18 orbital period in LEO) for blades to settle201 radminute oscillation frequency
FlappingMaximum amplitudes (~1-2) always less than50 damping in frac12 orbital period (45 minutes)293 radminute oscillation frequency
Bac
kups
64
Time Requirements
The Controller Continues to act like a controller at 91 seconds
At 1 second the controller does not display the desired characteristics
1 second Time step91 Second Time step
Bac
kups
65
Requirement for Actuators
Linear Actuator Position Rotary Actuator Position
Bac
kups
66
Requirements for Rotary Actuators
Resolution of 3 degreeResolution of 4 degree
Bac
kups
67
Requirements for Linear Actuators
Resolution of 14mmResolution of 3mm
Bac
kups
68
Requirements for Actuators
Linear accelerationAngular Acceleration
Bac
kups
69
Requirements for damping system
Addition of ⅓ computation time
Flapping ModeTwisting Mode
Bac
kups
70
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
71
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
72
State Space model Twisting Mode Kgyro is non existent in
the earth setting only 2-DOF were used
for the model
Bac
kups
73
Membrane-Ladder Assumption
Assumes no materialstructural damping
The membrane in between the elements are mass-less
Experimental results have shown good correlation with this FEM theory
Can accurately predict the motion of the pitching mode
Gyroscopic stiffness is not included on earth
Centripetal stiffness is now sitffness by gravity
SourceHeliogyro Solar Sail Blade Twist Stability Analysis of Root and Reflectivity Controllers
Bac
kups
74
Control Law Assumptions
The Solar Sail material has almost no material damping
Without the Control Law the flapping mode of the solar sail acts like an air damped pendulum
The twisting and flapping mode are considered uncoupled and can not influence each other
Root
Tip
Solar Sail
Bac
kups
75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Ver
ific
atio
n an
d V
alid
atio
n
50
Twisting Mode Control Law
Sensor resolution 1 degree
Resolution ⅙ framessecond
Actuator resolution 36 degree
Computational Time 160 seconds
Air damping ~0055
Damping ratio 0205
Control Law 0150
Project Risk
Ris
k
52
Risk Assessment
1
5 6 23
4
Consequence
Like
liho
od
Very High
Very Low
Minimal Catastrophic
1) Controller cannot measure defection angles accurately enough
2) Controller requires faster sampling than the sensors can provide
3) Mode coupling disrupts controller operations
4) Project is over budget
5) Components brokenneed replacements
6) HousingBus cannot be assembled on schedule
AcceptableRisk
Risk Acceptable with Contingency Plans
Unacceptable Risk
Ris
k
53
Risk ManagementRisk 1 Controller cannot measure deflection angles accurately enough
Contingency Plan Testing can be performed in a lighted environment Cameras can be moved to closer to the markers
Risk 2 Controller requires faster sampling than the sensors can provide
Contingency Plan Larger blades (~4m) can be tested decreasing mode frequencies and sampling rate requirments by (~50) Electronic baud rates can be increased from 9600 to 57600 Baud
Risk 3 Mode coupling disrupts operation of the Controller
Contingency Plan Smaller gains can be applied to the controller Modes of the blade can be excited mechanically Larger tip masses can be used to give the blade more in
Project Planning
Pla
nnin
g
55
Organizational Chart
SPECTRE
Micheal Andrews
Software Lead
Financial Coordinator
Brendon Barela
Manufacturing Lead
Austin Cerny
Testing Lead
Project Manager
Corinne Desroches
Electronics Lead
Kyle Edson
Systems Lead
Safety Lead
Conrad Gabel
Mechanical Lead
Chris Riesco
Sensing Lead
Justin Yong
Controls Lead
Pla
nnin
g
56
Work Breakdown Structure
SPECTRE
ManufacturingTesting
Bus Assembly
Blade Root Housing Assembly
Test Blade Analog
Mechanical
Installed Linear Actuator
Installed Rotary Actuator
Installed Gearbox Connection
Software
C++ Image Processing Algorithm
C++ Control Law Algorithm
Controls
Torsional Mode Model
Flapping Mode Model
Electronics
Installed Motor Controller
Installed Image Processor
Systems
Power Connection to all Electronic
Components
ControllerDriver Interface
Connection
Image ProcessorControlle
r Interface Connection
Sensing
Installed Cameras
Image Processing Subsystem
Pla
nnin
g
57
Work Plan
Sp
rin
g B
reak
Classes Start MSR TRR Spring Final Report Symposium
ManufacturingSoftwareMechanicalElectricalSystems
Pla
nnin
g
58
Work Plan Critical Path
Sp
rin
g B
reak
Classes Start MSR TRR Spring Final Report Symposium
ManufacturingSoftwareMechanicalElectricalSystems
Pla
nnin
g
59
Cost Plan
Component Number Needed
Lead Times (Weeks)
Cost per Component
Total Price
Overo Firestorm-P 1 3 $15900 $ 15900
Pinto 1 3 $ 2750 $ 2750
Power Adapters 2 3 $ 1000 $ 2000
Caspa VL 1 3 $ 7500 $ 7500
Micro SD 1 0 $ 5000 $ 5000
Arduino DUE 1 6-8 $ 5000 $ 5000
USB Cable 3 0 $ 300 $ 900
Linear Motor 1 3 $69000 $ 69000
Linear Motor Driver 1 8 $22600 $ 22600
Rotary Motor 1 3 $22000 $ 22000
Rotary Motor Driver 1 6-8 $22600 $ 22600
LEDs 2 0 $ 1000 $ 1000
Aluminum Sheet 1 1 $ 5000 $ 5000
Misc Wires 0 $10000 $ 10000
Misc Screws 0 $10000 $ 10000
Rotary Encoder 1 3 $ 5000 $ 5000
Hardened Steel Shaft 1 1 $ 2400 $ 2400
Linear Bearing with Pillow Block 1 1 $ 4000 $ 4000
Shaft Support 2 1 $ 4400 $ 4400
Bevel Gear 1 1 $ 5000 $ 5000
Turntable Bearing 1 1 $ 500 $ 500
Radial Berings 1 1 $ 500 $ 500
Precision Shaft (hollow) 1 1 $ 4000 $ 4000
Mounting Components 1 1 $ 4000 $ 4000
TOTAL $ 230050
Margin=$269950
gt50 Total Budget
enough to repurchase every component in case of failure
Pla
nnin
g
60
Test Plan
TestApproxima
te DateDescription Purpose
Sensors Collecting Data
EquipmentFacilities Needed
1 Feb 2 -9Camera Takes Image of
Test BladeMarkers
Ensure markers are visible and Image Processesing
Filter is accurateOvero Camera
Dark 1 Story Room 1-4 wall outlets
1-4 power supplies
2 March 2-9
Blade Flapping and Pitching Modes are
Excited and Filmed With Camera
Confirm sensors are installed correctly and angle measurement
sampling rate is sufficent
Overo Camera
3March 9 -
16Blade Is Commanded to
Pitch 90 degrees
Confirm actuatorsdrivers are correctly installed controller has required
range of motion
Rotary Encoder
4 April 6-20Blade Flapping and Pitching Modes are
Excited and Damped
VerficationValidation of Controller
Rotary Encoder Overo Camera
Backup Slides
Bac
kups
62
Frequency Testing Tested Bladesbull Several ldquoRope Ladderrdquo blades with similar masses to sail blades of the same area were built to
test the accuracy of the frequency estimatesbull Modes were excited manually and filmed to observe frequenciesbull Blade Frequencies matched predicted frequencies lt 3 error
Blade Length (m)Width (m) AR Mblade(g) Mtip(g)
1 15 01 15 0034 012
2 15 01 15 0034 204
3 1 01 10 0023 013
4 15 02 75 0034 024
Blade
Predicte
d
Observe
d
Error
Predicted
Observe
d
Error
1 0420 0428 200 0588 0600 204
2 0407 0400 171 0571 0577 105
3 0509 0508 004 07122 0732 273
4 0414 0417 072 0579 0588 115
Scaled Test Blade Being Filmed
MarkerCameraMotion of
Blade
Blade Tip
Bac
kups
63
Damping RatiosBlades oscillations need to be small enough to preserve 95 of the
surface area of the blade exposed to the solar flux
TwistingMaximum amplitude of 125 minute window (18 orbital period in LEO) for blades to settle201 radminute oscillation frequency
FlappingMaximum amplitudes (~1-2) always less than50 damping in frac12 orbital period (45 minutes)293 radminute oscillation frequency
Bac
kups
64
Time Requirements
The Controller Continues to act like a controller at 91 seconds
At 1 second the controller does not display the desired characteristics
1 second Time step91 Second Time step
Bac
kups
65
Requirement for Actuators
Linear Actuator Position Rotary Actuator Position
Bac
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66
Requirements for Rotary Actuators
Resolution of 3 degreeResolution of 4 degree
Bac
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67
Requirements for Linear Actuators
Resolution of 14mmResolution of 3mm
Bac
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68
Requirements for Actuators
Linear accelerationAngular Acceleration
Bac
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69
Requirements for damping system
Addition of ⅓ computation time
Flapping ModeTwisting Mode
Bac
kups
70
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
71
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
72
State Space model Twisting Mode Kgyro is non existent in
the earth setting only 2-DOF were used
for the model
Bac
kups
73
Membrane-Ladder Assumption
Assumes no materialstructural damping
The membrane in between the elements are mass-less
Experimental results have shown good correlation with this FEM theory
Can accurately predict the motion of the pitching mode
Gyroscopic stiffness is not included on earth
Centripetal stiffness is now sitffness by gravity
SourceHeliogyro Solar Sail Blade Twist Stability Analysis of Root and Reflectivity Controllers
Bac
kups
74
Control Law Assumptions
The Solar Sail material has almost no material damping
Without the Control Law the flapping mode of the solar sail acts like an air damped pendulum
The twisting and flapping mode are considered uncoupled and can not influence each other
Root
Tip
Solar Sail
Bac
kups
75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
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82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
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85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
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91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
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92
Camera Requirements Geometry
Bac
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93
Encoder Wiring
Bac
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94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
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102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Project Risk
Ris
k
52
Risk Assessment
1
5 6 23
4
Consequence
Like
liho
od
Very High
Very Low
Minimal Catastrophic
1) Controller cannot measure defection angles accurately enough
2) Controller requires faster sampling than the sensors can provide
3) Mode coupling disrupts controller operations
4) Project is over budget
5) Components brokenneed replacements
6) HousingBus cannot be assembled on schedule
AcceptableRisk
Risk Acceptable with Contingency Plans
Unacceptable Risk
Ris
k
53
Risk ManagementRisk 1 Controller cannot measure deflection angles accurately enough
Contingency Plan Testing can be performed in a lighted environment Cameras can be moved to closer to the markers
Risk 2 Controller requires faster sampling than the sensors can provide
Contingency Plan Larger blades (~4m) can be tested decreasing mode frequencies and sampling rate requirments by (~50) Electronic baud rates can be increased from 9600 to 57600 Baud
Risk 3 Mode coupling disrupts operation of the Controller
Contingency Plan Smaller gains can be applied to the controller Modes of the blade can be excited mechanically Larger tip masses can be used to give the blade more in
Project Planning
Pla
nnin
g
55
Organizational Chart
SPECTRE
Micheal Andrews
Software Lead
Financial Coordinator
Brendon Barela
Manufacturing Lead
Austin Cerny
Testing Lead
Project Manager
Corinne Desroches
Electronics Lead
Kyle Edson
Systems Lead
Safety Lead
Conrad Gabel
Mechanical Lead
Chris Riesco
Sensing Lead
Justin Yong
Controls Lead
Pla
nnin
g
56
Work Breakdown Structure
SPECTRE
ManufacturingTesting
Bus Assembly
Blade Root Housing Assembly
Test Blade Analog
Mechanical
Installed Linear Actuator
Installed Rotary Actuator
Installed Gearbox Connection
Software
C++ Image Processing Algorithm
C++ Control Law Algorithm
Controls
Torsional Mode Model
Flapping Mode Model
Electronics
Installed Motor Controller
Installed Image Processor
Systems
Power Connection to all Electronic
Components
ControllerDriver Interface
Connection
Image ProcessorControlle
r Interface Connection
Sensing
Installed Cameras
Image Processing Subsystem
Pla
nnin
g
57
Work Plan
Sp
rin
g B
reak
Classes Start MSR TRR Spring Final Report Symposium
ManufacturingSoftwareMechanicalElectricalSystems
Pla
nnin
g
58
Work Plan Critical Path
Sp
rin
g B
reak
Classes Start MSR TRR Spring Final Report Symposium
ManufacturingSoftwareMechanicalElectricalSystems
Pla
nnin
g
59
Cost Plan
Component Number Needed
Lead Times (Weeks)
Cost per Component
Total Price
Overo Firestorm-P 1 3 $15900 $ 15900
Pinto 1 3 $ 2750 $ 2750
Power Adapters 2 3 $ 1000 $ 2000
Caspa VL 1 3 $ 7500 $ 7500
Micro SD 1 0 $ 5000 $ 5000
Arduino DUE 1 6-8 $ 5000 $ 5000
USB Cable 3 0 $ 300 $ 900
Linear Motor 1 3 $69000 $ 69000
Linear Motor Driver 1 8 $22600 $ 22600
Rotary Motor 1 3 $22000 $ 22000
Rotary Motor Driver 1 6-8 $22600 $ 22600
LEDs 2 0 $ 1000 $ 1000
Aluminum Sheet 1 1 $ 5000 $ 5000
Misc Wires 0 $10000 $ 10000
Misc Screws 0 $10000 $ 10000
Rotary Encoder 1 3 $ 5000 $ 5000
Hardened Steel Shaft 1 1 $ 2400 $ 2400
Linear Bearing with Pillow Block 1 1 $ 4000 $ 4000
Shaft Support 2 1 $ 4400 $ 4400
Bevel Gear 1 1 $ 5000 $ 5000
Turntable Bearing 1 1 $ 500 $ 500
Radial Berings 1 1 $ 500 $ 500
Precision Shaft (hollow) 1 1 $ 4000 $ 4000
Mounting Components 1 1 $ 4000 $ 4000
TOTAL $ 230050
Margin=$269950
gt50 Total Budget
enough to repurchase every component in case of failure
Pla
nnin
g
60
Test Plan
TestApproxima
te DateDescription Purpose
Sensors Collecting Data
EquipmentFacilities Needed
1 Feb 2 -9Camera Takes Image of
Test BladeMarkers
Ensure markers are visible and Image Processesing
Filter is accurateOvero Camera
Dark 1 Story Room 1-4 wall outlets
1-4 power supplies
2 March 2-9
Blade Flapping and Pitching Modes are
Excited and Filmed With Camera
Confirm sensors are installed correctly and angle measurement
sampling rate is sufficent
Overo Camera
3March 9 -
16Blade Is Commanded to
Pitch 90 degrees
Confirm actuatorsdrivers are correctly installed controller has required
range of motion
Rotary Encoder
4 April 6-20Blade Flapping and Pitching Modes are
Excited and Damped
VerficationValidation of Controller
Rotary Encoder Overo Camera
Backup Slides
Bac
kups
62
Frequency Testing Tested Bladesbull Several ldquoRope Ladderrdquo blades with similar masses to sail blades of the same area were built to
test the accuracy of the frequency estimatesbull Modes were excited manually and filmed to observe frequenciesbull Blade Frequencies matched predicted frequencies lt 3 error
Blade Length (m)Width (m) AR Mblade(g) Mtip(g)
1 15 01 15 0034 012
2 15 01 15 0034 204
3 1 01 10 0023 013
4 15 02 75 0034 024
Blade
Predicte
d
Observe
d
Error
Predicted
Observe
d
Error
1 0420 0428 200 0588 0600 204
2 0407 0400 171 0571 0577 105
3 0509 0508 004 07122 0732 273
4 0414 0417 072 0579 0588 115
Scaled Test Blade Being Filmed
MarkerCameraMotion of
Blade
Blade Tip
Bac
kups
63
Damping RatiosBlades oscillations need to be small enough to preserve 95 of the
surface area of the blade exposed to the solar flux
TwistingMaximum amplitude of 125 minute window (18 orbital period in LEO) for blades to settle201 radminute oscillation frequency
FlappingMaximum amplitudes (~1-2) always less than50 damping in frac12 orbital period (45 minutes)293 radminute oscillation frequency
Bac
kups
64
Time Requirements
The Controller Continues to act like a controller at 91 seconds
At 1 second the controller does not display the desired characteristics
1 second Time step91 Second Time step
Bac
kups
65
Requirement for Actuators
Linear Actuator Position Rotary Actuator Position
Bac
kups
66
Requirements for Rotary Actuators
Resolution of 3 degreeResolution of 4 degree
Bac
kups
67
Requirements for Linear Actuators
Resolution of 14mmResolution of 3mm
Bac
kups
68
Requirements for Actuators
Linear accelerationAngular Acceleration
Bac
kups
69
Requirements for damping system
Addition of ⅓ computation time
Flapping ModeTwisting Mode
Bac
kups
70
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
71
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
72
State Space model Twisting Mode Kgyro is non existent in
the earth setting only 2-DOF were used
for the model
Bac
kups
73
Membrane-Ladder Assumption
Assumes no materialstructural damping
The membrane in between the elements are mass-less
Experimental results have shown good correlation with this FEM theory
Can accurately predict the motion of the pitching mode
Gyroscopic stiffness is not included on earth
Centripetal stiffness is now sitffness by gravity
SourceHeliogyro Solar Sail Blade Twist Stability Analysis of Root and Reflectivity Controllers
Bac
kups
74
Control Law Assumptions
The Solar Sail material has almost no material damping
Without the Control Law the flapping mode of the solar sail acts like an air damped pendulum
The twisting and flapping mode are considered uncoupled and can not influence each other
Root
Tip
Solar Sail
Bac
kups
75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Ris
k
52
Risk Assessment
1
5 6 23
4
Consequence
Like
liho
od
Very High
Very Low
Minimal Catastrophic
1) Controller cannot measure defection angles accurately enough
2) Controller requires faster sampling than the sensors can provide
3) Mode coupling disrupts controller operations
4) Project is over budget
5) Components brokenneed replacements
6) HousingBus cannot be assembled on schedule
AcceptableRisk
Risk Acceptable with Contingency Plans
Unacceptable Risk
Ris
k
53
Risk ManagementRisk 1 Controller cannot measure deflection angles accurately enough
Contingency Plan Testing can be performed in a lighted environment Cameras can be moved to closer to the markers
Risk 2 Controller requires faster sampling than the sensors can provide
Contingency Plan Larger blades (~4m) can be tested decreasing mode frequencies and sampling rate requirments by (~50) Electronic baud rates can be increased from 9600 to 57600 Baud
Risk 3 Mode coupling disrupts operation of the Controller
Contingency Plan Smaller gains can be applied to the controller Modes of the blade can be excited mechanically Larger tip masses can be used to give the blade more in
Project Planning
Pla
nnin
g
55
Organizational Chart
SPECTRE
Micheal Andrews
Software Lead
Financial Coordinator
Brendon Barela
Manufacturing Lead
Austin Cerny
Testing Lead
Project Manager
Corinne Desroches
Electronics Lead
Kyle Edson
Systems Lead
Safety Lead
Conrad Gabel
Mechanical Lead
Chris Riesco
Sensing Lead
Justin Yong
Controls Lead
Pla
nnin
g
56
Work Breakdown Structure
SPECTRE
ManufacturingTesting
Bus Assembly
Blade Root Housing Assembly
Test Blade Analog
Mechanical
Installed Linear Actuator
Installed Rotary Actuator
Installed Gearbox Connection
Software
C++ Image Processing Algorithm
C++ Control Law Algorithm
Controls
Torsional Mode Model
Flapping Mode Model
Electronics
Installed Motor Controller
Installed Image Processor
Systems
Power Connection to all Electronic
Components
ControllerDriver Interface
Connection
Image ProcessorControlle
r Interface Connection
Sensing
Installed Cameras
Image Processing Subsystem
Pla
nnin
g
57
Work Plan
Sp
rin
g B
reak
Classes Start MSR TRR Spring Final Report Symposium
ManufacturingSoftwareMechanicalElectricalSystems
Pla
nnin
g
58
Work Plan Critical Path
Sp
rin
g B
reak
Classes Start MSR TRR Spring Final Report Symposium
ManufacturingSoftwareMechanicalElectricalSystems
Pla
nnin
g
59
Cost Plan
Component Number Needed
Lead Times (Weeks)
Cost per Component
Total Price
Overo Firestorm-P 1 3 $15900 $ 15900
Pinto 1 3 $ 2750 $ 2750
Power Adapters 2 3 $ 1000 $ 2000
Caspa VL 1 3 $ 7500 $ 7500
Micro SD 1 0 $ 5000 $ 5000
Arduino DUE 1 6-8 $ 5000 $ 5000
USB Cable 3 0 $ 300 $ 900
Linear Motor 1 3 $69000 $ 69000
Linear Motor Driver 1 8 $22600 $ 22600
Rotary Motor 1 3 $22000 $ 22000
Rotary Motor Driver 1 6-8 $22600 $ 22600
LEDs 2 0 $ 1000 $ 1000
Aluminum Sheet 1 1 $ 5000 $ 5000
Misc Wires 0 $10000 $ 10000
Misc Screws 0 $10000 $ 10000
Rotary Encoder 1 3 $ 5000 $ 5000
Hardened Steel Shaft 1 1 $ 2400 $ 2400
Linear Bearing with Pillow Block 1 1 $ 4000 $ 4000
Shaft Support 2 1 $ 4400 $ 4400
Bevel Gear 1 1 $ 5000 $ 5000
Turntable Bearing 1 1 $ 500 $ 500
Radial Berings 1 1 $ 500 $ 500
Precision Shaft (hollow) 1 1 $ 4000 $ 4000
Mounting Components 1 1 $ 4000 $ 4000
TOTAL $ 230050
Margin=$269950
gt50 Total Budget
enough to repurchase every component in case of failure
Pla
nnin
g
60
Test Plan
TestApproxima
te DateDescription Purpose
Sensors Collecting Data
EquipmentFacilities Needed
1 Feb 2 -9Camera Takes Image of
Test BladeMarkers
Ensure markers are visible and Image Processesing
Filter is accurateOvero Camera
Dark 1 Story Room 1-4 wall outlets
1-4 power supplies
2 March 2-9
Blade Flapping and Pitching Modes are
Excited and Filmed With Camera
Confirm sensors are installed correctly and angle measurement
sampling rate is sufficent
Overo Camera
3March 9 -
16Blade Is Commanded to
Pitch 90 degrees
Confirm actuatorsdrivers are correctly installed controller has required
range of motion
Rotary Encoder
4 April 6-20Blade Flapping and Pitching Modes are
Excited and Damped
VerficationValidation of Controller
Rotary Encoder Overo Camera
Backup Slides
Bac
kups
62
Frequency Testing Tested Bladesbull Several ldquoRope Ladderrdquo blades with similar masses to sail blades of the same area were built to
test the accuracy of the frequency estimatesbull Modes were excited manually and filmed to observe frequenciesbull Blade Frequencies matched predicted frequencies lt 3 error
Blade Length (m)Width (m) AR Mblade(g) Mtip(g)
1 15 01 15 0034 012
2 15 01 15 0034 204
3 1 01 10 0023 013
4 15 02 75 0034 024
Blade
Predicte
d
Observe
d
Error
Predicted
Observe
d
Error
1 0420 0428 200 0588 0600 204
2 0407 0400 171 0571 0577 105
3 0509 0508 004 07122 0732 273
4 0414 0417 072 0579 0588 115
Scaled Test Blade Being Filmed
MarkerCameraMotion of
Blade
Blade Tip
Bac
kups
63
Damping RatiosBlades oscillations need to be small enough to preserve 95 of the
surface area of the blade exposed to the solar flux
TwistingMaximum amplitude of 125 minute window (18 orbital period in LEO) for blades to settle201 radminute oscillation frequency
FlappingMaximum amplitudes (~1-2) always less than50 damping in frac12 orbital period (45 minutes)293 radminute oscillation frequency
Bac
kups
64
Time Requirements
The Controller Continues to act like a controller at 91 seconds
At 1 second the controller does not display the desired characteristics
1 second Time step91 Second Time step
Bac
kups
65
Requirement for Actuators
Linear Actuator Position Rotary Actuator Position
Bac
kups
66
Requirements for Rotary Actuators
Resolution of 3 degreeResolution of 4 degree
Bac
kups
67
Requirements for Linear Actuators
Resolution of 14mmResolution of 3mm
Bac
kups
68
Requirements for Actuators
Linear accelerationAngular Acceleration
Bac
kups
69
Requirements for damping system
Addition of ⅓ computation time
Flapping ModeTwisting Mode
Bac
kups
70
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
71
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
72
State Space model Twisting Mode Kgyro is non existent in
the earth setting only 2-DOF were used
for the model
Bac
kups
73
Membrane-Ladder Assumption
Assumes no materialstructural damping
The membrane in between the elements are mass-less
Experimental results have shown good correlation with this FEM theory
Can accurately predict the motion of the pitching mode
Gyroscopic stiffness is not included on earth
Centripetal stiffness is now sitffness by gravity
SourceHeliogyro Solar Sail Blade Twist Stability Analysis of Root and Reflectivity Controllers
Bac
kups
74
Control Law Assumptions
The Solar Sail material has almost no material damping
Without the Control Law the flapping mode of the solar sail acts like an air damped pendulum
The twisting and flapping mode are considered uncoupled and can not influence each other
Root
Tip
Solar Sail
Bac
kups
75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Ris
k
53
Risk ManagementRisk 1 Controller cannot measure deflection angles accurately enough
Contingency Plan Testing can be performed in a lighted environment Cameras can be moved to closer to the markers
Risk 2 Controller requires faster sampling than the sensors can provide
Contingency Plan Larger blades (~4m) can be tested decreasing mode frequencies and sampling rate requirments by (~50) Electronic baud rates can be increased from 9600 to 57600 Baud
Risk 3 Mode coupling disrupts operation of the Controller
Contingency Plan Smaller gains can be applied to the controller Modes of the blade can be excited mechanically Larger tip masses can be used to give the blade more in
Project Planning
Pla
nnin
g
55
Organizational Chart
SPECTRE
Micheal Andrews
Software Lead
Financial Coordinator
Brendon Barela
Manufacturing Lead
Austin Cerny
Testing Lead
Project Manager
Corinne Desroches
Electronics Lead
Kyle Edson
Systems Lead
Safety Lead
Conrad Gabel
Mechanical Lead
Chris Riesco
Sensing Lead
Justin Yong
Controls Lead
Pla
nnin
g
56
Work Breakdown Structure
SPECTRE
ManufacturingTesting
Bus Assembly
Blade Root Housing Assembly
Test Blade Analog
Mechanical
Installed Linear Actuator
Installed Rotary Actuator
Installed Gearbox Connection
Software
C++ Image Processing Algorithm
C++ Control Law Algorithm
Controls
Torsional Mode Model
Flapping Mode Model
Electronics
Installed Motor Controller
Installed Image Processor
Systems
Power Connection to all Electronic
Components
ControllerDriver Interface
Connection
Image ProcessorControlle
r Interface Connection
Sensing
Installed Cameras
Image Processing Subsystem
Pla
nnin
g
57
Work Plan
Sp
rin
g B
reak
Classes Start MSR TRR Spring Final Report Symposium
ManufacturingSoftwareMechanicalElectricalSystems
Pla
nnin
g
58
Work Plan Critical Path
Sp
rin
g B
reak
Classes Start MSR TRR Spring Final Report Symposium
ManufacturingSoftwareMechanicalElectricalSystems
Pla
nnin
g
59
Cost Plan
Component Number Needed
Lead Times (Weeks)
Cost per Component
Total Price
Overo Firestorm-P 1 3 $15900 $ 15900
Pinto 1 3 $ 2750 $ 2750
Power Adapters 2 3 $ 1000 $ 2000
Caspa VL 1 3 $ 7500 $ 7500
Micro SD 1 0 $ 5000 $ 5000
Arduino DUE 1 6-8 $ 5000 $ 5000
USB Cable 3 0 $ 300 $ 900
Linear Motor 1 3 $69000 $ 69000
Linear Motor Driver 1 8 $22600 $ 22600
Rotary Motor 1 3 $22000 $ 22000
Rotary Motor Driver 1 6-8 $22600 $ 22600
LEDs 2 0 $ 1000 $ 1000
Aluminum Sheet 1 1 $ 5000 $ 5000
Misc Wires 0 $10000 $ 10000
Misc Screws 0 $10000 $ 10000
Rotary Encoder 1 3 $ 5000 $ 5000
Hardened Steel Shaft 1 1 $ 2400 $ 2400
Linear Bearing with Pillow Block 1 1 $ 4000 $ 4000
Shaft Support 2 1 $ 4400 $ 4400
Bevel Gear 1 1 $ 5000 $ 5000
Turntable Bearing 1 1 $ 500 $ 500
Radial Berings 1 1 $ 500 $ 500
Precision Shaft (hollow) 1 1 $ 4000 $ 4000
Mounting Components 1 1 $ 4000 $ 4000
TOTAL $ 230050
Margin=$269950
gt50 Total Budget
enough to repurchase every component in case of failure
Pla
nnin
g
60
Test Plan
TestApproxima
te DateDescription Purpose
Sensors Collecting Data
EquipmentFacilities Needed
1 Feb 2 -9Camera Takes Image of
Test BladeMarkers
Ensure markers are visible and Image Processesing
Filter is accurateOvero Camera
Dark 1 Story Room 1-4 wall outlets
1-4 power supplies
2 March 2-9
Blade Flapping and Pitching Modes are
Excited and Filmed With Camera
Confirm sensors are installed correctly and angle measurement
sampling rate is sufficent
Overo Camera
3March 9 -
16Blade Is Commanded to
Pitch 90 degrees
Confirm actuatorsdrivers are correctly installed controller has required
range of motion
Rotary Encoder
4 April 6-20Blade Flapping and Pitching Modes are
Excited and Damped
VerficationValidation of Controller
Rotary Encoder Overo Camera
Backup Slides
Bac
kups
62
Frequency Testing Tested Bladesbull Several ldquoRope Ladderrdquo blades with similar masses to sail blades of the same area were built to
test the accuracy of the frequency estimatesbull Modes were excited manually and filmed to observe frequenciesbull Blade Frequencies matched predicted frequencies lt 3 error
Blade Length (m)Width (m) AR Mblade(g) Mtip(g)
1 15 01 15 0034 012
2 15 01 15 0034 204
3 1 01 10 0023 013
4 15 02 75 0034 024
Blade
Predicte
d
Observe
d
Error
Predicted
Observe
d
Error
1 0420 0428 200 0588 0600 204
2 0407 0400 171 0571 0577 105
3 0509 0508 004 07122 0732 273
4 0414 0417 072 0579 0588 115
Scaled Test Blade Being Filmed
MarkerCameraMotion of
Blade
Blade Tip
Bac
kups
63
Damping RatiosBlades oscillations need to be small enough to preserve 95 of the
surface area of the blade exposed to the solar flux
TwistingMaximum amplitude of 125 minute window (18 orbital period in LEO) for blades to settle201 radminute oscillation frequency
FlappingMaximum amplitudes (~1-2) always less than50 damping in frac12 orbital period (45 minutes)293 radminute oscillation frequency
Bac
kups
64
Time Requirements
The Controller Continues to act like a controller at 91 seconds
At 1 second the controller does not display the desired characteristics
1 second Time step91 Second Time step
Bac
kups
65
Requirement for Actuators
Linear Actuator Position Rotary Actuator Position
Bac
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66
Requirements for Rotary Actuators
Resolution of 3 degreeResolution of 4 degree
Bac
kups
67
Requirements for Linear Actuators
Resolution of 14mmResolution of 3mm
Bac
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68
Requirements for Actuators
Linear accelerationAngular Acceleration
Bac
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69
Requirements for damping system
Addition of ⅓ computation time
Flapping ModeTwisting Mode
Bac
kups
70
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
71
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
72
State Space model Twisting Mode Kgyro is non existent in
the earth setting only 2-DOF were used
for the model
Bac
kups
73
Membrane-Ladder Assumption
Assumes no materialstructural damping
The membrane in between the elements are mass-less
Experimental results have shown good correlation with this FEM theory
Can accurately predict the motion of the pitching mode
Gyroscopic stiffness is not included on earth
Centripetal stiffness is now sitffness by gravity
SourceHeliogyro Solar Sail Blade Twist Stability Analysis of Root and Reflectivity Controllers
Bac
kups
74
Control Law Assumptions
The Solar Sail material has almost no material damping
Without the Control Law the flapping mode of the solar sail acts like an air damped pendulum
The twisting and flapping mode are considered uncoupled and can not influence each other
Root
Tip
Solar Sail
Bac
kups
75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
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82
Binding Ratio
L
D
a
Bac
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83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
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85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
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91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
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92
Camera Requirements Geometry
Bac
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93
Encoder Wiring
Bac
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94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
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100
Motor Controller Code
Bac
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101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Project Planning
Pla
nnin
g
55
Organizational Chart
SPECTRE
Micheal Andrews
Software Lead
Financial Coordinator
Brendon Barela
Manufacturing Lead
Austin Cerny
Testing Lead
Project Manager
Corinne Desroches
Electronics Lead
Kyle Edson
Systems Lead
Safety Lead
Conrad Gabel
Mechanical Lead
Chris Riesco
Sensing Lead
Justin Yong
Controls Lead
Pla
nnin
g
56
Work Breakdown Structure
SPECTRE
ManufacturingTesting
Bus Assembly
Blade Root Housing Assembly
Test Blade Analog
Mechanical
Installed Linear Actuator
Installed Rotary Actuator
Installed Gearbox Connection
Software
C++ Image Processing Algorithm
C++ Control Law Algorithm
Controls
Torsional Mode Model
Flapping Mode Model
Electronics
Installed Motor Controller
Installed Image Processor
Systems
Power Connection to all Electronic
Components
ControllerDriver Interface
Connection
Image ProcessorControlle
r Interface Connection
Sensing
Installed Cameras
Image Processing Subsystem
Pla
nnin
g
57
Work Plan
Sp
rin
g B
reak
Classes Start MSR TRR Spring Final Report Symposium
ManufacturingSoftwareMechanicalElectricalSystems
Pla
nnin
g
58
Work Plan Critical Path
Sp
rin
g B
reak
Classes Start MSR TRR Spring Final Report Symposium
ManufacturingSoftwareMechanicalElectricalSystems
Pla
nnin
g
59
Cost Plan
Component Number Needed
Lead Times (Weeks)
Cost per Component
Total Price
Overo Firestorm-P 1 3 $15900 $ 15900
Pinto 1 3 $ 2750 $ 2750
Power Adapters 2 3 $ 1000 $ 2000
Caspa VL 1 3 $ 7500 $ 7500
Micro SD 1 0 $ 5000 $ 5000
Arduino DUE 1 6-8 $ 5000 $ 5000
USB Cable 3 0 $ 300 $ 900
Linear Motor 1 3 $69000 $ 69000
Linear Motor Driver 1 8 $22600 $ 22600
Rotary Motor 1 3 $22000 $ 22000
Rotary Motor Driver 1 6-8 $22600 $ 22600
LEDs 2 0 $ 1000 $ 1000
Aluminum Sheet 1 1 $ 5000 $ 5000
Misc Wires 0 $10000 $ 10000
Misc Screws 0 $10000 $ 10000
Rotary Encoder 1 3 $ 5000 $ 5000
Hardened Steel Shaft 1 1 $ 2400 $ 2400
Linear Bearing with Pillow Block 1 1 $ 4000 $ 4000
Shaft Support 2 1 $ 4400 $ 4400
Bevel Gear 1 1 $ 5000 $ 5000
Turntable Bearing 1 1 $ 500 $ 500
Radial Berings 1 1 $ 500 $ 500
Precision Shaft (hollow) 1 1 $ 4000 $ 4000
Mounting Components 1 1 $ 4000 $ 4000
TOTAL $ 230050
Margin=$269950
gt50 Total Budget
enough to repurchase every component in case of failure
Pla
nnin
g
60
Test Plan
TestApproxima
te DateDescription Purpose
Sensors Collecting Data
EquipmentFacilities Needed
1 Feb 2 -9Camera Takes Image of
Test BladeMarkers
Ensure markers are visible and Image Processesing
Filter is accurateOvero Camera
Dark 1 Story Room 1-4 wall outlets
1-4 power supplies
2 March 2-9
Blade Flapping and Pitching Modes are
Excited and Filmed With Camera
Confirm sensors are installed correctly and angle measurement
sampling rate is sufficent
Overo Camera
3March 9 -
16Blade Is Commanded to
Pitch 90 degrees
Confirm actuatorsdrivers are correctly installed controller has required
range of motion
Rotary Encoder
4 April 6-20Blade Flapping and Pitching Modes are
Excited and Damped
VerficationValidation of Controller
Rotary Encoder Overo Camera
Backup Slides
Bac
kups
62
Frequency Testing Tested Bladesbull Several ldquoRope Ladderrdquo blades with similar masses to sail blades of the same area were built to
test the accuracy of the frequency estimatesbull Modes were excited manually and filmed to observe frequenciesbull Blade Frequencies matched predicted frequencies lt 3 error
Blade Length (m)Width (m) AR Mblade(g) Mtip(g)
1 15 01 15 0034 012
2 15 01 15 0034 204
3 1 01 10 0023 013
4 15 02 75 0034 024
Blade
Predicte
d
Observe
d
Error
Predicted
Observe
d
Error
1 0420 0428 200 0588 0600 204
2 0407 0400 171 0571 0577 105
3 0509 0508 004 07122 0732 273
4 0414 0417 072 0579 0588 115
Scaled Test Blade Being Filmed
MarkerCameraMotion of
Blade
Blade Tip
Bac
kups
63
Damping RatiosBlades oscillations need to be small enough to preserve 95 of the
surface area of the blade exposed to the solar flux
TwistingMaximum amplitude of 125 minute window (18 orbital period in LEO) for blades to settle201 radminute oscillation frequency
FlappingMaximum amplitudes (~1-2) always less than50 damping in frac12 orbital period (45 minutes)293 radminute oscillation frequency
Bac
kups
64
Time Requirements
The Controller Continues to act like a controller at 91 seconds
At 1 second the controller does not display the desired characteristics
1 second Time step91 Second Time step
Bac
kups
65
Requirement for Actuators
Linear Actuator Position Rotary Actuator Position
Bac
kups
66
Requirements for Rotary Actuators
Resolution of 3 degreeResolution of 4 degree
Bac
kups
67
Requirements for Linear Actuators
Resolution of 14mmResolution of 3mm
Bac
kups
68
Requirements for Actuators
Linear accelerationAngular Acceleration
Bac
kups
69
Requirements for damping system
Addition of ⅓ computation time
Flapping ModeTwisting Mode
Bac
kups
70
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
71
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
72
State Space model Twisting Mode Kgyro is non existent in
the earth setting only 2-DOF were used
for the model
Bac
kups
73
Membrane-Ladder Assumption
Assumes no materialstructural damping
The membrane in between the elements are mass-less
Experimental results have shown good correlation with this FEM theory
Can accurately predict the motion of the pitching mode
Gyroscopic stiffness is not included on earth
Centripetal stiffness is now sitffness by gravity
SourceHeliogyro Solar Sail Blade Twist Stability Analysis of Root and Reflectivity Controllers
Bac
kups
74
Control Law Assumptions
The Solar Sail material has almost no material damping
Without the Control Law the flapping mode of the solar sail acts like an air damped pendulum
The twisting and flapping mode are considered uncoupled and can not influence each other
Root
Tip
Solar Sail
Bac
kups
75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Pla
nnin
g
55
Organizational Chart
SPECTRE
Micheal Andrews
Software Lead
Financial Coordinator
Brendon Barela
Manufacturing Lead
Austin Cerny
Testing Lead
Project Manager
Corinne Desroches
Electronics Lead
Kyle Edson
Systems Lead
Safety Lead
Conrad Gabel
Mechanical Lead
Chris Riesco
Sensing Lead
Justin Yong
Controls Lead
Pla
nnin
g
56
Work Breakdown Structure
SPECTRE
ManufacturingTesting
Bus Assembly
Blade Root Housing Assembly
Test Blade Analog
Mechanical
Installed Linear Actuator
Installed Rotary Actuator
Installed Gearbox Connection
Software
C++ Image Processing Algorithm
C++ Control Law Algorithm
Controls
Torsional Mode Model
Flapping Mode Model
Electronics
Installed Motor Controller
Installed Image Processor
Systems
Power Connection to all Electronic
Components
ControllerDriver Interface
Connection
Image ProcessorControlle
r Interface Connection
Sensing
Installed Cameras
Image Processing Subsystem
Pla
nnin
g
57
Work Plan
Sp
rin
g B
reak
Classes Start MSR TRR Spring Final Report Symposium
ManufacturingSoftwareMechanicalElectricalSystems
Pla
nnin
g
58
Work Plan Critical Path
Sp
rin
g B
reak
Classes Start MSR TRR Spring Final Report Symposium
ManufacturingSoftwareMechanicalElectricalSystems
Pla
nnin
g
59
Cost Plan
Component Number Needed
Lead Times (Weeks)
Cost per Component
Total Price
Overo Firestorm-P 1 3 $15900 $ 15900
Pinto 1 3 $ 2750 $ 2750
Power Adapters 2 3 $ 1000 $ 2000
Caspa VL 1 3 $ 7500 $ 7500
Micro SD 1 0 $ 5000 $ 5000
Arduino DUE 1 6-8 $ 5000 $ 5000
USB Cable 3 0 $ 300 $ 900
Linear Motor 1 3 $69000 $ 69000
Linear Motor Driver 1 8 $22600 $ 22600
Rotary Motor 1 3 $22000 $ 22000
Rotary Motor Driver 1 6-8 $22600 $ 22600
LEDs 2 0 $ 1000 $ 1000
Aluminum Sheet 1 1 $ 5000 $ 5000
Misc Wires 0 $10000 $ 10000
Misc Screws 0 $10000 $ 10000
Rotary Encoder 1 3 $ 5000 $ 5000
Hardened Steel Shaft 1 1 $ 2400 $ 2400
Linear Bearing with Pillow Block 1 1 $ 4000 $ 4000
Shaft Support 2 1 $ 4400 $ 4400
Bevel Gear 1 1 $ 5000 $ 5000
Turntable Bearing 1 1 $ 500 $ 500
Radial Berings 1 1 $ 500 $ 500
Precision Shaft (hollow) 1 1 $ 4000 $ 4000
Mounting Components 1 1 $ 4000 $ 4000
TOTAL $ 230050
Margin=$269950
gt50 Total Budget
enough to repurchase every component in case of failure
Pla
nnin
g
60
Test Plan
TestApproxima
te DateDescription Purpose
Sensors Collecting Data
EquipmentFacilities Needed
1 Feb 2 -9Camera Takes Image of
Test BladeMarkers
Ensure markers are visible and Image Processesing
Filter is accurateOvero Camera
Dark 1 Story Room 1-4 wall outlets
1-4 power supplies
2 March 2-9
Blade Flapping and Pitching Modes are
Excited and Filmed With Camera
Confirm sensors are installed correctly and angle measurement
sampling rate is sufficent
Overo Camera
3March 9 -
16Blade Is Commanded to
Pitch 90 degrees
Confirm actuatorsdrivers are correctly installed controller has required
range of motion
Rotary Encoder
4 April 6-20Blade Flapping and Pitching Modes are
Excited and Damped
VerficationValidation of Controller
Rotary Encoder Overo Camera
Backup Slides
Bac
kups
62
Frequency Testing Tested Bladesbull Several ldquoRope Ladderrdquo blades with similar masses to sail blades of the same area were built to
test the accuracy of the frequency estimatesbull Modes were excited manually and filmed to observe frequenciesbull Blade Frequencies matched predicted frequencies lt 3 error
Blade Length (m)Width (m) AR Mblade(g) Mtip(g)
1 15 01 15 0034 012
2 15 01 15 0034 204
3 1 01 10 0023 013
4 15 02 75 0034 024
Blade
Predicte
d
Observe
d
Error
Predicted
Observe
d
Error
1 0420 0428 200 0588 0600 204
2 0407 0400 171 0571 0577 105
3 0509 0508 004 07122 0732 273
4 0414 0417 072 0579 0588 115
Scaled Test Blade Being Filmed
MarkerCameraMotion of
Blade
Blade Tip
Bac
kups
63
Damping RatiosBlades oscillations need to be small enough to preserve 95 of the
surface area of the blade exposed to the solar flux
TwistingMaximum amplitude of 125 minute window (18 orbital period in LEO) for blades to settle201 radminute oscillation frequency
FlappingMaximum amplitudes (~1-2) always less than50 damping in frac12 orbital period (45 minutes)293 radminute oscillation frequency
Bac
kups
64
Time Requirements
The Controller Continues to act like a controller at 91 seconds
At 1 second the controller does not display the desired characteristics
1 second Time step91 Second Time step
Bac
kups
65
Requirement for Actuators
Linear Actuator Position Rotary Actuator Position
Bac
kups
66
Requirements for Rotary Actuators
Resolution of 3 degreeResolution of 4 degree
Bac
kups
67
Requirements for Linear Actuators
Resolution of 14mmResolution of 3mm
Bac
kups
68
Requirements for Actuators
Linear accelerationAngular Acceleration
Bac
kups
69
Requirements for damping system
Addition of ⅓ computation time
Flapping ModeTwisting Mode
Bac
kups
70
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
71
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
72
State Space model Twisting Mode Kgyro is non existent in
the earth setting only 2-DOF were used
for the model
Bac
kups
73
Membrane-Ladder Assumption
Assumes no materialstructural damping
The membrane in between the elements are mass-less
Experimental results have shown good correlation with this FEM theory
Can accurately predict the motion of the pitching mode
Gyroscopic stiffness is not included on earth
Centripetal stiffness is now sitffness by gravity
SourceHeliogyro Solar Sail Blade Twist Stability Analysis of Root and Reflectivity Controllers
Bac
kups
74
Control Law Assumptions
The Solar Sail material has almost no material damping
Without the Control Law the flapping mode of the solar sail acts like an air damped pendulum
The twisting and flapping mode are considered uncoupled and can not influence each other
Root
Tip
Solar Sail
Bac
kups
75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Pla
nnin
g
56
Work Breakdown Structure
SPECTRE
ManufacturingTesting
Bus Assembly
Blade Root Housing Assembly
Test Blade Analog
Mechanical
Installed Linear Actuator
Installed Rotary Actuator
Installed Gearbox Connection
Software
C++ Image Processing Algorithm
C++ Control Law Algorithm
Controls
Torsional Mode Model
Flapping Mode Model
Electronics
Installed Motor Controller
Installed Image Processor
Systems
Power Connection to all Electronic
Components
ControllerDriver Interface
Connection
Image ProcessorControlle
r Interface Connection
Sensing
Installed Cameras
Image Processing Subsystem
Pla
nnin
g
57
Work Plan
Sp
rin
g B
reak
Classes Start MSR TRR Spring Final Report Symposium
ManufacturingSoftwareMechanicalElectricalSystems
Pla
nnin
g
58
Work Plan Critical Path
Sp
rin
g B
reak
Classes Start MSR TRR Spring Final Report Symposium
ManufacturingSoftwareMechanicalElectricalSystems
Pla
nnin
g
59
Cost Plan
Component Number Needed
Lead Times (Weeks)
Cost per Component
Total Price
Overo Firestorm-P 1 3 $15900 $ 15900
Pinto 1 3 $ 2750 $ 2750
Power Adapters 2 3 $ 1000 $ 2000
Caspa VL 1 3 $ 7500 $ 7500
Micro SD 1 0 $ 5000 $ 5000
Arduino DUE 1 6-8 $ 5000 $ 5000
USB Cable 3 0 $ 300 $ 900
Linear Motor 1 3 $69000 $ 69000
Linear Motor Driver 1 8 $22600 $ 22600
Rotary Motor 1 3 $22000 $ 22000
Rotary Motor Driver 1 6-8 $22600 $ 22600
LEDs 2 0 $ 1000 $ 1000
Aluminum Sheet 1 1 $ 5000 $ 5000
Misc Wires 0 $10000 $ 10000
Misc Screws 0 $10000 $ 10000
Rotary Encoder 1 3 $ 5000 $ 5000
Hardened Steel Shaft 1 1 $ 2400 $ 2400
Linear Bearing with Pillow Block 1 1 $ 4000 $ 4000
Shaft Support 2 1 $ 4400 $ 4400
Bevel Gear 1 1 $ 5000 $ 5000
Turntable Bearing 1 1 $ 500 $ 500
Radial Berings 1 1 $ 500 $ 500
Precision Shaft (hollow) 1 1 $ 4000 $ 4000
Mounting Components 1 1 $ 4000 $ 4000
TOTAL $ 230050
Margin=$269950
gt50 Total Budget
enough to repurchase every component in case of failure
Pla
nnin
g
60
Test Plan
TestApproxima
te DateDescription Purpose
Sensors Collecting Data
EquipmentFacilities Needed
1 Feb 2 -9Camera Takes Image of
Test BladeMarkers
Ensure markers are visible and Image Processesing
Filter is accurateOvero Camera
Dark 1 Story Room 1-4 wall outlets
1-4 power supplies
2 March 2-9
Blade Flapping and Pitching Modes are
Excited and Filmed With Camera
Confirm sensors are installed correctly and angle measurement
sampling rate is sufficent
Overo Camera
3March 9 -
16Blade Is Commanded to
Pitch 90 degrees
Confirm actuatorsdrivers are correctly installed controller has required
range of motion
Rotary Encoder
4 April 6-20Blade Flapping and Pitching Modes are
Excited and Damped
VerficationValidation of Controller
Rotary Encoder Overo Camera
Backup Slides
Bac
kups
62
Frequency Testing Tested Bladesbull Several ldquoRope Ladderrdquo blades with similar masses to sail blades of the same area were built to
test the accuracy of the frequency estimatesbull Modes were excited manually and filmed to observe frequenciesbull Blade Frequencies matched predicted frequencies lt 3 error
Blade Length (m)Width (m) AR Mblade(g) Mtip(g)
1 15 01 15 0034 012
2 15 01 15 0034 204
3 1 01 10 0023 013
4 15 02 75 0034 024
Blade
Predicte
d
Observe
d
Error
Predicted
Observe
d
Error
1 0420 0428 200 0588 0600 204
2 0407 0400 171 0571 0577 105
3 0509 0508 004 07122 0732 273
4 0414 0417 072 0579 0588 115
Scaled Test Blade Being Filmed
MarkerCameraMotion of
Blade
Blade Tip
Bac
kups
63
Damping RatiosBlades oscillations need to be small enough to preserve 95 of the
surface area of the blade exposed to the solar flux
TwistingMaximum amplitude of 125 minute window (18 orbital period in LEO) for blades to settle201 radminute oscillation frequency
FlappingMaximum amplitudes (~1-2) always less than50 damping in frac12 orbital period (45 minutes)293 radminute oscillation frequency
Bac
kups
64
Time Requirements
The Controller Continues to act like a controller at 91 seconds
At 1 second the controller does not display the desired characteristics
1 second Time step91 Second Time step
Bac
kups
65
Requirement for Actuators
Linear Actuator Position Rotary Actuator Position
Bac
kups
66
Requirements for Rotary Actuators
Resolution of 3 degreeResolution of 4 degree
Bac
kups
67
Requirements for Linear Actuators
Resolution of 14mmResolution of 3mm
Bac
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68
Requirements for Actuators
Linear accelerationAngular Acceleration
Bac
kups
69
Requirements for damping system
Addition of ⅓ computation time
Flapping ModeTwisting Mode
Bac
kups
70
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
71
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
72
State Space model Twisting Mode Kgyro is non existent in
the earth setting only 2-DOF were used
for the model
Bac
kups
73
Membrane-Ladder Assumption
Assumes no materialstructural damping
The membrane in between the elements are mass-less
Experimental results have shown good correlation with this FEM theory
Can accurately predict the motion of the pitching mode
Gyroscopic stiffness is not included on earth
Centripetal stiffness is now sitffness by gravity
SourceHeliogyro Solar Sail Blade Twist Stability Analysis of Root and Reflectivity Controllers
Bac
kups
74
Control Law Assumptions
The Solar Sail material has almost no material damping
Without the Control Law the flapping mode of the solar sail acts like an air damped pendulum
The twisting and flapping mode are considered uncoupled and can not influence each other
Root
Tip
Solar Sail
Bac
kups
75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
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82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
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85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
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94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Pla
nnin
g
57
Work Plan
Sp
rin
g B
reak
Classes Start MSR TRR Spring Final Report Symposium
ManufacturingSoftwareMechanicalElectricalSystems
Pla
nnin
g
58
Work Plan Critical Path
Sp
rin
g B
reak
Classes Start MSR TRR Spring Final Report Symposium
ManufacturingSoftwareMechanicalElectricalSystems
Pla
nnin
g
59
Cost Plan
Component Number Needed
Lead Times (Weeks)
Cost per Component
Total Price
Overo Firestorm-P 1 3 $15900 $ 15900
Pinto 1 3 $ 2750 $ 2750
Power Adapters 2 3 $ 1000 $ 2000
Caspa VL 1 3 $ 7500 $ 7500
Micro SD 1 0 $ 5000 $ 5000
Arduino DUE 1 6-8 $ 5000 $ 5000
USB Cable 3 0 $ 300 $ 900
Linear Motor 1 3 $69000 $ 69000
Linear Motor Driver 1 8 $22600 $ 22600
Rotary Motor 1 3 $22000 $ 22000
Rotary Motor Driver 1 6-8 $22600 $ 22600
LEDs 2 0 $ 1000 $ 1000
Aluminum Sheet 1 1 $ 5000 $ 5000
Misc Wires 0 $10000 $ 10000
Misc Screws 0 $10000 $ 10000
Rotary Encoder 1 3 $ 5000 $ 5000
Hardened Steel Shaft 1 1 $ 2400 $ 2400
Linear Bearing with Pillow Block 1 1 $ 4000 $ 4000
Shaft Support 2 1 $ 4400 $ 4400
Bevel Gear 1 1 $ 5000 $ 5000
Turntable Bearing 1 1 $ 500 $ 500
Radial Berings 1 1 $ 500 $ 500
Precision Shaft (hollow) 1 1 $ 4000 $ 4000
Mounting Components 1 1 $ 4000 $ 4000
TOTAL $ 230050
Margin=$269950
gt50 Total Budget
enough to repurchase every component in case of failure
Pla
nnin
g
60
Test Plan
TestApproxima
te DateDescription Purpose
Sensors Collecting Data
EquipmentFacilities Needed
1 Feb 2 -9Camera Takes Image of
Test BladeMarkers
Ensure markers are visible and Image Processesing
Filter is accurateOvero Camera
Dark 1 Story Room 1-4 wall outlets
1-4 power supplies
2 March 2-9
Blade Flapping and Pitching Modes are
Excited and Filmed With Camera
Confirm sensors are installed correctly and angle measurement
sampling rate is sufficent
Overo Camera
3March 9 -
16Blade Is Commanded to
Pitch 90 degrees
Confirm actuatorsdrivers are correctly installed controller has required
range of motion
Rotary Encoder
4 April 6-20Blade Flapping and Pitching Modes are
Excited and Damped
VerficationValidation of Controller
Rotary Encoder Overo Camera
Backup Slides
Bac
kups
62
Frequency Testing Tested Bladesbull Several ldquoRope Ladderrdquo blades with similar masses to sail blades of the same area were built to
test the accuracy of the frequency estimatesbull Modes were excited manually and filmed to observe frequenciesbull Blade Frequencies matched predicted frequencies lt 3 error
Blade Length (m)Width (m) AR Mblade(g) Mtip(g)
1 15 01 15 0034 012
2 15 01 15 0034 204
3 1 01 10 0023 013
4 15 02 75 0034 024
Blade
Predicte
d
Observe
d
Error
Predicted
Observe
d
Error
1 0420 0428 200 0588 0600 204
2 0407 0400 171 0571 0577 105
3 0509 0508 004 07122 0732 273
4 0414 0417 072 0579 0588 115
Scaled Test Blade Being Filmed
MarkerCameraMotion of
Blade
Blade Tip
Bac
kups
63
Damping RatiosBlades oscillations need to be small enough to preserve 95 of the
surface area of the blade exposed to the solar flux
TwistingMaximum amplitude of 125 minute window (18 orbital period in LEO) for blades to settle201 radminute oscillation frequency
FlappingMaximum amplitudes (~1-2) always less than50 damping in frac12 orbital period (45 minutes)293 radminute oscillation frequency
Bac
kups
64
Time Requirements
The Controller Continues to act like a controller at 91 seconds
At 1 second the controller does not display the desired characteristics
1 second Time step91 Second Time step
Bac
kups
65
Requirement for Actuators
Linear Actuator Position Rotary Actuator Position
Bac
kups
66
Requirements for Rotary Actuators
Resolution of 3 degreeResolution of 4 degree
Bac
kups
67
Requirements for Linear Actuators
Resolution of 14mmResolution of 3mm
Bac
kups
68
Requirements for Actuators
Linear accelerationAngular Acceleration
Bac
kups
69
Requirements for damping system
Addition of ⅓ computation time
Flapping ModeTwisting Mode
Bac
kups
70
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
71
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
72
State Space model Twisting Mode Kgyro is non existent in
the earth setting only 2-DOF were used
for the model
Bac
kups
73
Membrane-Ladder Assumption
Assumes no materialstructural damping
The membrane in between the elements are mass-less
Experimental results have shown good correlation with this FEM theory
Can accurately predict the motion of the pitching mode
Gyroscopic stiffness is not included on earth
Centripetal stiffness is now sitffness by gravity
SourceHeliogyro Solar Sail Blade Twist Stability Analysis of Root and Reflectivity Controllers
Bac
kups
74
Control Law Assumptions
The Solar Sail material has almost no material damping
Without the Control Law the flapping mode of the solar sail acts like an air damped pendulum
The twisting and flapping mode are considered uncoupled and can not influence each other
Root
Tip
Solar Sail
Bac
kups
75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Pla
nnin
g
58
Work Plan Critical Path
Sp
rin
g B
reak
Classes Start MSR TRR Spring Final Report Symposium
ManufacturingSoftwareMechanicalElectricalSystems
Pla
nnin
g
59
Cost Plan
Component Number Needed
Lead Times (Weeks)
Cost per Component
Total Price
Overo Firestorm-P 1 3 $15900 $ 15900
Pinto 1 3 $ 2750 $ 2750
Power Adapters 2 3 $ 1000 $ 2000
Caspa VL 1 3 $ 7500 $ 7500
Micro SD 1 0 $ 5000 $ 5000
Arduino DUE 1 6-8 $ 5000 $ 5000
USB Cable 3 0 $ 300 $ 900
Linear Motor 1 3 $69000 $ 69000
Linear Motor Driver 1 8 $22600 $ 22600
Rotary Motor 1 3 $22000 $ 22000
Rotary Motor Driver 1 6-8 $22600 $ 22600
LEDs 2 0 $ 1000 $ 1000
Aluminum Sheet 1 1 $ 5000 $ 5000
Misc Wires 0 $10000 $ 10000
Misc Screws 0 $10000 $ 10000
Rotary Encoder 1 3 $ 5000 $ 5000
Hardened Steel Shaft 1 1 $ 2400 $ 2400
Linear Bearing with Pillow Block 1 1 $ 4000 $ 4000
Shaft Support 2 1 $ 4400 $ 4400
Bevel Gear 1 1 $ 5000 $ 5000
Turntable Bearing 1 1 $ 500 $ 500
Radial Berings 1 1 $ 500 $ 500
Precision Shaft (hollow) 1 1 $ 4000 $ 4000
Mounting Components 1 1 $ 4000 $ 4000
TOTAL $ 230050
Margin=$269950
gt50 Total Budget
enough to repurchase every component in case of failure
Pla
nnin
g
60
Test Plan
TestApproxima
te DateDescription Purpose
Sensors Collecting Data
EquipmentFacilities Needed
1 Feb 2 -9Camera Takes Image of
Test BladeMarkers
Ensure markers are visible and Image Processesing
Filter is accurateOvero Camera
Dark 1 Story Room 1-4 wall outlets
1-4 power supplies
2 March 2-9
Blade Flapping and Pitching Modes are
Excited and Filmed With Camera
Confirm sensors are installed correctly and angle measurement
sampling rate is sufficent
Overo Camera
3March 9 -
16Blade Is Commanded to
Pitch 90 degrees
Confirm actuatorsdrivers are correctly installed controller has required
range of motion
Rotary Encoder
4 April 6-20Blade Flapping and Pitching Modes are
Excited and Damped
VerficationValidation of Controller
Rotary Encoder Overo Camera
Backup Slides
Bac
kups
62
Frequency Testing Tested Bladesbull Several ldquoRope Ladderrdquo blades with similar masses to sail blades of the same area were built to
test the accuracy of the frequency estimatesbull Modes were excited manually and filmed to observe frequenciesbull Blade Frequencies matched predicted frequencies lt 3 error
Blade Length (m)Width (m) AR Mblade(g) Mtip(g)
1 15 01 15 0034 012
2 15 01 15 0034 204
3 1 01 10 0023 013
4 15 02 75 0034 024
Blade
Predicte
d
Observe
d
Error
Predicted
Observe
d
Error
1 0420 0428 200 0588 0600 204
2 0407 0400 171 0571 0577 105
3 0509 0508 004 07122 0732 273
4 0414 0417 072 0579 0588 115
Scaled Test Blade Being Filmed
MarkerCameraMotion of
Blade
Blade Tip
Bac
kups
63
Damping RatiosBlades oscillations need to be small enough to preserve 95 of the
surface area of the blade exposed to the solar flux
TwistingMaximum amplitude of 125 minute window (18 orbital period in LEO) for blades to settle201 radminute oscillation frequency
FlappingMaximum amplitudes (~1-2) always less than50 damping in frac12 orbital period (45 minutes)293 radminute oscillation frequency
Bac
kups
64
Time Requirements
The Controller Continues to act like a controller at 91 seconds
At 1 second the controller does not display the desired characteristics
1 second Time step91 Second Time step
Bac
kups
65
Requirement for Actuators
Linear Actuator Position Rotary Actuator Position
Bac
kups
66
Requirements for Rotary Actuators
Resolution of 3 degreeResolution of 4 degree
Bac
kups
67
Requirements for Linear Actuators
Resolution of 14mmResolution of 3mm
Bac
kups
68
Requirements for Actuators
Linear accelerationAngular Acceleration
Bac
kups
69
Requirements for damping system
Addition of ⅓ computation time
Flapping ModeTwisting Mode
Bac
kups
70
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
71
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
72
State Space model Twisting Mode Kgyro is non existent in
the earth setting only 2-DOF were used
for the model
Bac
kups
73
Membrane-Ladder Assumption
Assumes no materialstructural damping
The membrane in between the elements are mass-less
Experimental results have shown good correlation with this FEM theory
Can accurately predict the motion of the pitching mode
Gyroscopic stiffness is not included on earth
Centripetal stiffness is now sitffness by gravity
SourceHeliogyro Solar Sail Blade Twist Stability Analysis of Root and Reflectivity Controllers
Bac
kups
74
Control Law Assumptions
The Solar Sail material has almost no material damping
Without the Control Law the flapping mode of the solar sail acts like an air damped pendulum
The twisting and flapping mode are considered uncoupled and can not influence each other
Root
Tip
Solar Sail
Bac
kups
75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Pla
nnin
g
59
Cost Plan
Component Number Needed
Lead Times (Weeks)
Cost per Component
Total Price
Overo Firestorm-P 1 3 $15900 $ 15900
Pinto 1 3 $ 2750 $ 2750
Power Adapters 2 3 $ 1000 $ 2000
Caspa VL 1 3 $ 7500 $ 7500
Micro SD 1 0 $ 5000 $ 5000
Arduino DUE 1 6-8 $ 5000 $ 5000
USB Cable 3 0 $ 300 $ 900
Linear Motor 1 3 $69000 $ 69000
Linear Motor Driver 1 8 $22600 $ 22600
Rotary Motor 1 3 $22000 $ 22000
Rotary Motor Driver 1 6-8 $22600 $ 22600
LEDs 2 0 $ 1000 $ 1000
Aluminum Sheet 1 1 $ 5000 $ 5000
Misc Wires 0 $10000 $ 10000
Misc Screws 0 $10000 $ 10000
Rotary Encoder 1 3 $ 5000 $ 5000
Hardened Steel Shaft 1 1 $ 2400 $ 2400
Linear Bearing with Pillow Block 1 1 $ 4000 $ 4000
Shaft Support 2 1 $ 4400 $ 4400
Bevel Gear 1 1 $ 5000 $ 5000
Turntable Bearing 1 1 $ 500 $ 500
Radial Berings 1 1 $ 500 $ 500
Precision Shaft (hollow) 1 1 $ 4000 $ 4000
Mounting Components 1 1 $ 4000 $ 4000
TOTAL $ 230050
Margin=$269950
gt50 Total Budget
enough to repurchase every component in case of failure
Pla
nnin
g
60
Test Plan
TestApproxima
te DateDescription Purpose
Sensors Collecting Data
EquipmentFacilities Needed
1 Feb 2 -9Camera Takes Image of
Test BladeMarkers
Ensure markers are visible and Image Processesing
Filter is accurateOvero Camera
Dark 1 Story Room 1-4 wall outlets
1-4 power supplies
2 March 2-9
Blade Flapping and Pitching Modes are
Excited and Filmed With Camera
Confirm sensors are installed correctly and angle measurement
sampling rate is sufficent
Overo Camera
3March 9 -
16Blade Is Commanded to
Pitch 90 degrees
Confirm actuatorsdrivers are correctly installed controller has required
range of motion
Rotary Encoder
4 April 6-20Blade Flapping and Pitching Modes are
Excited and Damped
VerficationValidation of Controller
Rotary Encoder Overo Camera
Backup Slides
Bac
kups
62
Frequency Testing Tested Bladesbull Several ldquoRope Ladderrdquo blades with similar masses to sail blades of the same area were built to
test the accuracy of the frequency estimatesbull Modes were excited manually and filmed to observe frequenciesbull Blade Frequencies matched predicted frequencies lt 3 error
Blade Length (m)Width (m) AR Mblade(g) Mtip(g)
1 15 01 15 0034 012
2 15 01 15 0034 204
3 1 01 10 0023 013
4 15 02 75 0034 024
Blade
Predicte
d
Observe
d
Error
Predicted
Observe
d
Error
1 0420 0428 200 0588 0600 204
2 0407 0400 171 0571 0577 105
3 0509 0508 004 07122 0732 273
4 0414 0417 072 0579 0588 115
Scaled Test Blade Being Filmed
MarkerCameraMotion of
Blade
Blade Tip
Bac
kups
63
Damping RatiosBlades oscillations need to be small enough to preserve 95 of the
surface area of the blade exposed to the solar flux
TwistingMaximum amplitude of 125 minute window (18 orbital period in LEO) for blades to settle201 radminute oscillation frequency
FlappingMaximum amplitudes (~1-2) always less than50 damping in frac12 orbital period (45 minutes)293 radminute oscillation frequency
Bac
kups
64
Time Requirements
The Controller Continues to act like a controller at 91 seconds
At 1 second the controller does not display the desired characteristics
1 second Time step91 Second Time step
Bac
kups
65
Requirement for Actuators
Linear Actuator Position Rotary Actuator Position
Bac
kups
66
Requirements for Rotary Actuators
Resolution of 3 degreeResolution of 4 degree
Bac
kups
67
Requirements for Linear Actuators
Resolution of 14mmResolution of 3mm
Bac
kups
68
Requirements for Actuators
Linear accelerationAngular Acceleration
Bac
kups
69
Requirements for damping system
Addition of ⅓ computation time
Flapping ModeTwisting Mode
Bac
kups
70
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
71
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
72
State Space model Twisting Mode Kgyro is non existent in
the earth setting only 2-DOF were used
for the model
Bac
kups
73
Membrane-Ladder Assumption
Assumes no materialstructural damping
The membrane in between the elements are mass-less
Experimental results have shown good correlation with this FEM theory
Can accurately predict the motion of the pitching mode
Gyroscopic stiffness is not included on earth
Centripetal stiffness is now sitffness by gravity
SourceHeliogyro Solar Sail Blade Twist Stability Analysis of Root and Reflectivity Controllers
Bac
kups
74
Control Law Assumptions
The Solar Sail material has almost no material damping
Without the Control Law the flapping mode of the solar sail acts like an air damped pendulum
The twisting and flapping mode are considered uncoupled and can not influence each other
Root
Tip
Solar Sail
Bac
kups
75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Pla
nnin
g
60
Test Plan
TestApproxima
te DateDescription Purpose
Sensors Collecting Data
EquipmentFacilities Needed
1 Feb 2 -9Camera Takes Image of
Test BladeMarkers
Ensure markers are visible and Image Processesing
Filter is accurateOvero Camera
Dark 1 Story Room 1-4 wall outlets
1-4 power supplies
2 March 2-9
Blade Flapping and Pitching Modes are
Excited and Filmed With Camera
Confirm sensors are installed correctly and angle measurement
sampling rate is sufficent
Overo Camera
3March 9 -
16Blade Is Commanded to
Pitch 90 degrees
Confirm actuatorsdrivers are correctly installed controller has required
range of motion
Rotary Encoder
4 April 6-20Blade Flapping and Pitching Modes are
Excited and Damped
VerficationValidation of Controller
Rotary Encoder Overo Camera
Backup Slides
Bac
kups
62
Frequency Testing Tested Bladesbull Several ldquoRope Ladderrdquo blades with similar masses to sail blades of the same area were built to
test the accuracy of the frequency estimatesbull Modes were excited manually and filmed to observe frequenciesbull Blade Frequencies matched predicted frequencies lt 3 error
Blade Length (m)Width (m) AR Mblade(g) Mtip(g)
1 15 01 15 0034 012
2 15 01 15 0034 204
3 1 01 10 0023 013
4 15 02 75 0034 024
Blade
Predicte
d
Observe
d
Error
Predicted
Observe
d
Error
1 0420 0428 200 0588 0600 204
2 0407 0400 171 0571 0577 105
3 0509 0508 004 07122 0732 273
4 0414 0417 072 0579 0588 115
Scaled Test Blade Being Filmed
MarkerCameraMotion of
Blade
Blade Tip
Bac
kups
63
Damping RatiosBlades oscillations need to be small enough to preserve 95 of the
surface area of the blade exposed to the solar flux
TwistingMaximum amplitude of 125 minute window (18 orbital period in LEO) for blades to settle201 radminute oscillation frequency
FlappingMaximum amplitudes (~1-2) always less than50 damping in frac12 orbital period (45 minutes)293 radminute oscillation frequency
Bac
kups
64
Time Requirements
The Controller Continues to act like a controller at 91 seconds
At 1 second the controller does not display the desired characteristics
1 second Time step91 Second Time step
Bac
kups
65
Requirement for Actuators
Linear Actuator Position Rotary Actuator Position
Bac
kups
66
Requirements for Rotary Actuators
Resolution of 3 degreeResolution of 4 degree
Bac
kups
67
Requirements for Linear Actuators
Resolution of 14mmResolution of 3mm
Bac
kups
68
Requirements for Actuators
Linear accelerationAngular Acceleration
Bac
kups
69
Requirements for damping system
Addition of ⅓ computation time
Flapping ModeTwisting Mode
Bac
kups
70
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
71
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
72
State Space model Twisting Mode Kgyro is non existent in
the earth setting only 2-DOF were used
for the model
Bac
kups
73
Membrane-Ladder Assumption
Assumes no materialstructural damping
The membrane in between the elements are mass-less
Experimental results have shown good correlation with this FEM theory
Can accurately predict the motion of the pitching mode
Gyroscopic stiffness is not included on earth
Centripetal stiffness is now sitffness by gravity
SourceHeliogyro Solar Sail Blade Twist Stability Analysis of Root and Reflectivity Controllers
Bac
kups
74
Control Law Assumptions
The Solar Sail material has almost no material damping
Without the Control Law the flapping mode of the solar sail acts like an air damped pendulum
The twisting and flapping mode are considered uncoupled and can not influence each other
Root
Tip
Solar Sail
Bac
kups
75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Backup Slides
Bac
kups
62
Frequency Testing Tested Bladesbull Several ldquoRope Ladderrdquo blades with similar masses to sail blades of the same area were built to
test the accuracy of the frequency estimatesbull Modes were excited manually and filmed to observe frequenciesbull Blade Frequencies matched predicted frequencies lt 3 error
Blade Length (m)Width (m) AR Mblade(g) Mtip(g)
1 15 01 15 0034 012
2 15 01 15 0034 204
3 1 01 10 0023 013
4 15 02 75 0034 024
Blade
Predicte
d
Observe
d
Error
Predicted
Observe
d
Error
1 0420 0428 200 0588 0600 204
2 0407 0400 171 0571 0577 105
3 0509 0508 004 07122 0732 273
4 0414 0417 072 0579 0588 115
Scaled Test Blade Being Filmed
MarkerCameraMotion of
Blade
Blade Tip
Bac
kups
63
Damping RatiosBlades oscillations need to be small enough to preserve 95 of the
surface area of the blade exposed to the solar flux
TwistingMaximum amplitude of 125 minute window (18 orbital period in LEO) for blades to settle201 radminute oscillation frequency
FlappingMaximum amplitudes (~1-2) always less than50 damping in frac12 orbital period (45 minutes)293 radminute oscillation frequency
Bac
kups
64
Time Requirements
The Controller Continues to act like a controller at 91 seconds
At 1 second the controller does not display the desired characteristics
1 second Time step91 Second Time step
Bac
kups
65
Requirement for Actuators
Linear Actuator Position Rotary Actuator Position
Bac
kups
66
Requirements for Rotary Actuators
Resolution of 3 degreeResolution of 4 degree
Bac
kups
67
Requirements for Linear Actuators
Resolution of 14mmResolution of 3mm
Bac
kups
68
Requirements for Actuators
Linear accelerationAngular Acceleration
Bac
kups
69
Requirements for damping system
Addition of ⅓ computation time
Flapping ModeTwisting Mode
Bac
kups
70
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
71
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
72
State Space model Twisting Mode Kgyro is non existent in
the earth setting only 2-DOF were used
for the model
Bac
kups
73
Membrane-Ladder Assumption
Assumes no materialstructural damping
The membrane in between the elements are mass-less
Experimental results have shown good correlation with this FEM theory
Can accurately predict the motion of the pitching mode
Gyroscopic stiffness is not included on earth
Centripetal stiffness is now sitffness by gravity
SourceHeliogyro Solar Sail Blade Twist Stability Analysis of Root and Reflectivity Controllers
Bac
kups
74
Control Law Assumptions
The Solar Sail material has almost no material damping
Without the Control Law the flapping mode of the solar sail acts like an air damped pendulum
The twisting and flapping mode are considered uncoupled and can not influence each other
Root
Tip
Solar Sail
Bac
kups
75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
62
Frequency Testing Tested Bladesbull Several ldquoRope Ladderrdquo blades with similar masses to sail blades of the same area were built to
test the accuracy of the frequency estimatesbull Modes were excited manually and filmed to observe frequenciesbull Blade Frequencies matched predicted frequencies lt 3 error
Blade Length (m)Width (m) AR Mblade(g) Mtip(g)
1 15 01 15 0034 012
2 15 01 15 0034 204
3 1 01 10 0023 013
4 15 02 75 0034 024
Blade
Predicte
d
Observe
d
Error
Predicted
Observe
d
Error
1 0420 0428 200 0588 0600 204
2 0407 0400 171 0571 0577 105
3 0509 0508 004 07122 0732 273
4 0414 0417 072 0579 0588 115
Scaled Test Blade Being Filmed
MarkerCameraMotion of
Blade
Blade Tip
Bac
kups
63
Damping RatiosBlades oscillations need to be small enough to preserve 95 of the
surface area of the blade exposed to the solar flux
TwistingMaximum amplitude of 125 minute window (18 orbital period in LEO) for blades to settle201 radminute oscillation frequency
FlappingMaximum amplitudes (~1-2) always less than50 damping in frac12 orbital period (45 minutes)293 radminute oscillation frequency
Bac
kups
64
Time Requirements
The Controller Continues to act like a controller at 91 seconds
At 1 second the controller does not display the desired characteristics
1 second Time step91 Second Time step
Bac
kups
65
Requirement for Actuators
Linear Actuator Position Rotary Actuator Position
Bac
kups
66
Requirements for Rotary Actuators
Resolution of 3 degreeResolution of 4 degree
Bac
kups
67
Requirements for Linear Actuators
Resolution of 14mmResolution of 3mm
Bac
kups
68
Requirements for Actuators
Linear accelerationAngular Acceleration
Bac
kups
69
Requirements for damping system
Addition of ⅓ computation time
Flapping ModeTwisting Mode
Bac
kups
70
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
71
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
72
State Space model Twisting Mode Kgyro is non existent in
the earth setting only 2-DOF were used
for the model
Bac
kups
73
Membrane-Ladder Assumption
Assumes no materialstructural damping
The membrane in between the elements are mass-less
Experimental results have shown good correlation with this FEM theory
Can accurately predict the motion of the pitching mode
Gyroscopic stiffness is not included on earth
Centripetal stiffness is now sitffness by gravity
SourceHeliogyro Solar Sail Blade Twist Stability Analysis of Root and Reflectivity Controllers
Bac
kups
74
Control Law Assumptions
The Solar Sail material has almost no material damping
Without the Control Law the flapping mode of the solar sail acts like an air damped pendulum
The twisting and flapping mode are considered uncoupled and can not influence each other
Root
Tip
Solar Sail
Bac
kups
75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
63
Damping RatiosBlades oscillations need to be small enough to preserve 95 of the
surface area of the blade exposed to the solar flux
TwistingMaximum amplitude of 125 minute window (18 orbital period in LEO) for blades to settle201 radminute oscillation frequency
FlappingMaximum amplitudes (~1-2) always less than50 damping in frac12 orbital period (45 minutes)293 radminute oscillation frequency
Bac
kups
64
Time Requirements
The Controller Continues to act like a controller at 91 seconds
At 1 second the controller does not display the desired characteristics
1 second Time step91 Second Time step
Bac
kups
65
Requirement for Actuators
Linear Actuator Position Rotary Actuator Position
Bac
kups
66
Requirements for Rotary Actuators
Resolution of 3 degreeResolution of 4 degree
Bac
kups
67
Requirements for Linear Actuators
Resolution of 14mmResolution of 3mm
Bac
kups
68
Requirements for Actuators
Linear accelerationAngular Acceleration
Bac
kups
69
Requirements for damping system
Addition of ⅓ computation time
Flapping ModeTwisting Mode
Bac
kups
70
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
71
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
72
State Space model Twisting Mode Kgyro is non existent in
the earth setting only 2-DOF were used
for the model
Bac
kups
73
Membrane-Ladder Assumption
Assumes no materialstructural damping
The membrane in between the elements are mass-less
Experimental results have shown good correlation with this FEM theory
Can accurately predict the motion of the pitching mode
Gyroscopic stiffness is not included on earth
Centripetal stiffness is now sitffness by gravity
SourceHeliogyro Solar Sail Blade Twist Stability Analysis of Root and Reflectivity Controllers
Bac
kups
74
Control Law Assumptions
The Solar Sail material has almost no material damping
Without the Control Law the flapping mode of the solar sail acts like an air damped pendulum
The twisting and flapping mode are considered uncoupled and can not influence each other
Root
Tip
Solar Sail
Bac
kups
75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
64
Time Requirements
The Controller Continues to act like a controller at 91 seconds
At 1 second the controller does not display the desired characteristics
1 second Time step91 Second Time step
Bac
kups
65
Requirement for Actuators
Linear Actuator Position Rotary Actuator Position
Bac
kups
66
Requirements for Rotary Actuators
Resolution of 3 degreeResolution of 4 degree
Bac
kups
67
Requirements for Linear Actuators
Resolution of 14mmResolution of 3mm
Bac
kups
68
Requirements for Actuators
Linear accelerationAngular Acceleration
Bac
kups
69
Requirements for damping system
Addition of ⅓ computation time
Flapping ModeTwisting Mode
Bac
kups
70
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
71
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
72
State Space model Twisting Mode Kgyro is non existent in
the earth setting only 2-DOF were used
for the model
Bac
kups
73
Membrane-Ladder Assumption
Assumes no materialstructural damping
The membrane in between the elements are mass-less
Experimental results have shown good correlation with this FEM theory
Can accurately predict the motion of the pitching mode
Gyroscopic stiffness is not included on earth
Centripetal stiffness is now sitffness by gravity
SourceHeliogyro Solar Sail Blade Twist Stability Analysis of Root and Reflectivity Controllers
Bac
kups
74
Control Law Assumptions
The Solar Sail material has almost no material damping
Without the Control Law the flapping mode of the solar sail acts like an air damped pendulum
The twisting and flapping mode are considered uncoupled and can not influence each other
Root
Tip
Solar Sail
Bac
kups
75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
65
Requirement for Actuators
Linear Actuator Position Rotary Actuator Position
Bac
kups
66
Requirements for Rotary Actuators
Resolution of 3 degreeResolution of 4 degree
Bac
kups
67
Requirements for Linear Actuators
Resolution of 14mmResolution of 3mm
Bac
kups
68
Requirements for Actuators
Linear accelerationAngular Acceleration
Bac
kups
69
Requirements for damping system
Addition of ⅓ computation time
Flapping ModeTwisting Mode
Bac
kups
70
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
71
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
72
State Space model Twisting Mode Kgyro is non existent in
the earth setting only 2-DOF were used
for the model
Bac
kups
73
Membrane-Ladder Assumption
Assumes no materialstructural damping
The membrane in between the elements are mass-less
Experimental results have shown good correlation with this FEM theory
Can accurately predict the motion of the pitching mode
Gyroscopic stiffness is not included on earth
Centripetal stiffness is now sitffness by gravity
SourceHeliogyro Solar Sail Blade Twist Stability Analysis of Root and Reflectivity Controllers
Bac
kups
74
Control Law Assumptions
The Solar Sail material has almost no material damping
Without the Control Law the flapping mode of the solar sail acts like an air damped pendulum
The twisting and flapping mode are considered uncoupled and can not influence each other
Root
Tip
Solar Sail
Bac
kups
75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
66
Requirements for Rotary Actuators
Resolution of 3 degreeResolution of 4 degree
Bac
kups
67
Requirements for Linear Actuators
Resolution of 14mmResolution of 3mm
Bac
kups
68
Requirements for Actuators
Linear accelerationAngular Acceleration
Bac
kups
69
Requirements for damping system
Addition of ⅓ computation time
Flapping ModeTwisting Mode
Bac
kups
70
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
71
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
72
State Space model Twisting Mode Kgyro is non existent in
the earth setting only 2-DOF were used
for the model
Bac
kups
73
Membrane-Ladder Assumption
Assumes no materialstructural damping
The membrane in between the elements are mass-less
Experimental results have shown good correlation with this FEM theory
Can accurately predict the motion of the pitching mode
Gyroscopic stiffness is not included on earth
Centripetal stiffness is now sitffness by gravity
SourceHeliogyro Solar Sail Blade Twist Stability Analysis of Root and Reflectivity Controllers
Bac
kups
74
Control Law Assumptions
The Solar Sail material has almost no material damping
Without the Control Law the flapping mode of the solar sail acts like an air damped pendulum
The twisting and flapping mode are considered uncoupled and can not influence each other
Root
Tip
Solar Sail
Bac
kups
75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
67
Requirements for Linear Actuators
Resolution of 14mmResolution of 3mm
Bac
kups
68
Requirements for Actuators
Linear accelerationAngular Acceleration
Bac
kups
69
Requirements for damping system
Addition of ⅓ computation time
Flapping ModeTwisting Mode
Bac
kups
70
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
71
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
72
State Space model Twisting Mode Kgyro is non existent in
the earth setting only 2-DOF were used
for the model
Bac
kups
73
Membrane-Ladder Assumption
Assumes no materialstructural damping
The membrane in between the elements are mass-less
Experimental results have shown good correlation with this FEM theory
Can accurately predict the motion of the pitching mode
Gyroscopic stiffness is not included on earth
Centripetal stiffness is now sitffness by gravity
SourceHeliogyro Solar Sail Blade Twist Stability Analysis of Root and Reflectivity Controllers
Bac
kups
74
Control Law Assumptions
The Solar Sail material has almost no material damping
Without the Control Law the flapping mode of the solar sail acts like an air damped pendulum
The twisting and flapping mode are considered uncoupled and can not influence each other
Root
Tip
Solar Sail
Bac
kups
75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
68
Requirements for Actuators
Linear accelerationAngular Acceleration
Bac
kups
69
Requirements for damping system
Addition of ⅓ computation time
Flapping ModeTwisting Mode
Bac
kups
70
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
71
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
72
State Space model Twisting Mode Kgyro is non existent in
the earth setting only 2-DOF were used
for the model
Bac
kups
73
Membrane-Ladder Assumption
Assumes no materialstructural damping
The membrane in between the elements are mass-less
Experimental results have shown good correlation with this FEM theory
Can accurately predict the motion of the pitching mode
Gyroscopic stiffness is not included on earth
Centripetal stiffness is now sitffness by gravity
SourceHeliogyro Solar Sail Blade Twist Stability Analysis of Root and Reflectivity Controllers
Bac
kups
74
Control Law Assumptions
The Solar Sail material has almost no material damping
Without the Control Law the flapping mode of the solar sail acts like an air damped pendulum
The twisting and flapping mode are considered uncoupled and can not influence each other
Root
Tip
Solar Sail
Bac
kups
75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
69
Requirements for damping system
Addition of ⅓ computation time
Flapping ModeTwisting Mode
Bac
kups
70
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
71
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
72
State Space model Twisting Mode Kgyro is non existent in
the earth setting only 2-DOF were used
for the model
Bac
kups
73
Membrane-Ladder Assumption
Assumes no materialstructural damping
The membrane in between the elements are mass-less
Experimental results have shown good correlation with this FEM theory
Can accurately predict the motion of the pitching mode
Gyroscopic stiffness is not included on earth
Centripetal stiffness is now sitffness by gravity
SourceHeliogyro Solar Sail Blade Twist Stability Analysis of Root and Reflectivity Controllers
Bac
kups
74
Control Law Assumptions
The Solar Sail material has almost no material damping
Without the Control Law the flapping mode of the solar sail acts like an air damped pendulum
The twisting and flapping mode are considered uncoupled and can not influence each other
Root
Tip
Solar Sail
Bac
kups
75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
70
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
71
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
72
State Space model Twisting Mode Kgyro is non existent in
the earth setting only 2-DOF were used
for the model
Bac
kups
73
Membrane-Ladder Assumption
Assumes no materialstructural damping
The membrane in between the elements are mass-less
Experimental results have shown good correlation with this FEM theory
Can accurately predict the motion of the pitching mode
Gyroscopic stiffness is not included on earth
Centripetal stiffness is now sitffness by gravity
SourceHeliogyro Solar Sail Blade Twist Stability Analysis of Root and Reflectivity Controllers
Bac
kups
74
Control Law Assumptions
The Solar Sail material has almost no material damping
Without the Control Law the flapping mode of the solar sail acts like an air damped pendulum
The twisting and flapping mode are considered uncoupled and can not influence each other
Root
Tip
Solar Sail
Bac
kups
75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
71
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
72
State Space model Twisting Mode Kgyro is non existent in
the earth setting only 2-DOF were used
for the model
Bac
kups
73
Membrane-Ladder Assumption
Assumes no materialstructural damping
The membrane in between the elements are mass-less
Experimental results have shown good correlation with this FEM theory
Can accurately predict the motion of the pitching mode
Gyroscopic stiffness is not included on earth
Centripetal stiffness is now sitffness by gravity
SourceHeliogyro Solar Sail Blade Twist Stability Analysis of Root and Reflectivity Controllers
Bac
kups
74
Control Law Assumptions
The Solar Sail material has almost no material damping
Without the Control Law the flapping mode of the solar sail acts like an air damped pendulum
The twisting and flapping mode are considered uncoupled and can not influence each other
Root
Tip
Solar Sail
Bac
kups
75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
72
State Space model Twisting Mode Kgyro is non existent in
the earth setting only 2-DOF were used
for the model
Bac
kups
73
Membrane-Ladder Assumption
Assumes no materialstructural damping
The membrane in between the elements are mass-less
Experimental results have shown good correlation with this FEM theory
Can accurately predict the motion of the pitching mode
Gyroscopic stiffness is not included on earth
Centripetal stiffness is now sitffness by gravity
SourceHeliogyro Solar Sail Blade Twist Stability Analysis of Root and Reflectivity Controllers
Bac
kups
74
Control Law Assumptions
The Solar Sail material has almost no material damping
Without the Control Law the flapping mode of the solar sail acts like an air damped pendulum
The twisting and flapping mode are considered uncoupled and can not influence each other
Root
Tip
Solar Sail
Bac
kups
75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
73
Membrane-Ladder Assumption
Assumes no materialstructural damping
The membrane in between the elements are mass-less
Experimental results have shown good correlation with this FEM theory
Can accurately predict the motion of the pitching mode
Gyroscopic stiffness is not included on earth
Centripetal stiffness is now sitffness by gravity
SourceHeliogyro Solar Sail Blade Twist Stability Analysis of Root and Reflectivity Controllers
Bac
kups
74
Control Law Assumptions
The Solar Sail material has almost no material damping
Without the Control Law the flapping mode of the solar sail acts like an air damped pendulum
The twisting and flapping mode are considered uncoupled and can not influence each other
Root
Tip
Solar Sail
Bac
kups
75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
74
Control Law Assumptions
The Solar Sail material has almost no material damping
Without the Control Law the flapping mode of the solar sail acts like an air damped pendulum
The twisting and flapping mode are considered uncoupled and can not influence each other
Root
Tip
Solar Sail
Bac
kups
75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
75
Control Law Design
Takes in the error in the deflection angle from the reference angle
Outputs the Moment produced at the root
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
76
Control Law Design
Takes in the moment needed to damp the solar sail
Exports the deflection of the solar sail
u = Mroot
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
77
Key Elements to be PurchasedElement Manufacturer
SupplierModel Number Cost Lead Time
Rotary Motor FaulhaberMicromo BLDC 0824D $22000 1-3 weeks
Rotary Motor Driver
FaulhaberMicromo MCBL 3002RS $226 6-8 weeks max
Rotary Encoder FaulhaberMicromo AESM ndash 4096 $5000 1-3 weeks
Linear Actuator FaulhaberMicromo LM ndash 0830 $69000 1-3 weeks
Linear Motor Driver
FaulhaberMicromo MCLM 3002RS $226 6-8 weeks max
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
78
Mechanical Components to be Purchased
Component Material Tolerance
Structural Plating Aluminum 18rdquo +- 0005rdquo
Mounting Components Aluminum +- 0001rdquo
Components to be Manufactured
Element ManufacturerSupplier Tolerence Cost Lead Time
Hardened Steel Shaft (14rdquo)
McMaster Carr Diameter 00002rdquoStraigtness 00048rdquofoot
$2400 1 week
Linear Bearing with Pillow Block Housing
McMaster Carr Self Aligning ball bearings
$4000 1 week
Shaft Support (2) McMaster Carr Diameter+-0003rdquo $2200 1 week
Bevel Gear Stock Drive Products Backlash 0002rdquo $5000 1 week
Turntable Bearing McMaster Carr Diameter 0005rdquo $500 1 week
Radial Bearings McMaster Carr Diameter 0005rdquo $500 1 week
Precision shaft (hollow) McMaster Carr Diameter 0001rdquo Straightness 0001rdquofoot
$4000 1 week
Mounting Components McMaster Carr Diameter +- 0003rdquo $4000 1 week
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
79
Parallel Shaft Misalignment MitigationProblem Shafts are misaligned from shaft support tolerancemisalignmentSolutionReduce Size of spool rod by expect misalignment dx total
dx2dx1
dxtotal =dx1+dx2
bearings
Spool rod
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
80
Linear actuation Tolerancing
dx1
θ1
θ2
L
θ
1
θ1 = θ2
dx = Lsin(θ1 )θ1max = 1o
dx1max allowable = 01108 mm
dx2
dx2 = tolerance in shaft support s= 0003rdquo=0076 mm (worst case)
Shaft Hardness = 015192 mmfootdx3 = 008 mm
dx3
Max Possible Error = dx2 + dx3 = 0156 mm = 17o
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
81
Linear Motion Requirement
θ
bull
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
82
Binding Ratio
L
D
a
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
83
Binding Preventionbull Lever arm distance = 15cm
bull Can prevent binding by increasing length between bearings or by decreasing μs
bull For typical ball bearing μs = 0005 need L gt15 mm
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
84
Gear Ratio bull
r
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
85
Gear Backlashbull 21 Gear Ratio with 2cm
radius gear translates into 0350 mm (0014 in) backlash for a 1o error
bull Backlash = Rθ
bull Diametral Pitch of 24-48 gives accuracy of 015o
R = 2cm
Θmax=1oBacklash
Average stock Gear Backlash(Bevel Gear)
httpwwwbostongearcompdfgear_theorypdf
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
86
Image Processing in Space
Image processing methods are similar for space applications
Oscillations seen at any point along the blade can be used to extrapolate the state of the 350m blade
Sensing the blade at a location 2m from the root will require similar camera characteristics for the flapping mode
The twisting mode will require a smaller field of view and higher specific resolution
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
87
Expected Deflections (Flapping)
In the flapping mode the flap angle of the blade is constant over the entire length of the blade (simple pendulum assumption)
Sensing a point at 2m from the root will have identical requirements to our testing case The same camera can be used to detect the full range of flapping motion
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
88
Expected Deflections (Twisting)
In the twisting mode the twist angle increases along the length of the blade
Deflections seen at a location 2m from the root will have a displacement of ~1 times that of the tip
This narrows the required field of view of the camera to sense the small motions of the sensing point
The resolution requirement (pixelsdegFOV) is unchanged
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
89
Camera Requirements (Space)
To accommodate small twisting mode deflections the field of view must be changed from 437deg to 023deg
This can be done through optical zoom requiring a focusing lens being added to the camera system
The lens must supply 190x optical zoom
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
90
Camera Setup (Space)
The flapping mode requires an unchanged field of view and the twisting mode requires a significantly smaller field of view
It is proposed that two separate cameras are used Each is mounted within the blade housing on separate sides of the blade
Integrating the 190x focusing lens with one of the two cameras will allow the sensing of both modes independently
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
91
Camera Requirements Geometry
α = Vertical angle from camera axis to sensing location
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
92
Camera Requirements Geometry
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
93
Encoder Wiring
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
94
Motor PowerRotary motor Back-EMF constant 0624 mVrmp Current constant 0168 AmNm 03 mNm maximum 96 rpm 595 mV at 27 A (minimum 5V for driverhall sensors)
Linear Motor Back-EMF constant 158 V(ms) Force constant 194 NA Maximum force 054 N maximum speed 5 cms 0079 V at 278 mA (minimum 5V for driverhall sensors)
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
95
RS232 Level Shifter
TTL Serial interface and supply(Rx Tx GndUcc)
DB9 female connector (RS232)
Max baud rate 115200 bpsVariable voltage level depends on TTL level able to run on 33 V
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
96
LED Light intensity 7000mcd Powered separately Alkaline battery
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
97
include ltstdiohgt include ltstdlibhgt include ltusrlocalopencv-249includeopencvcvhgt include ltmathhgt
void main(int argc char argv[])
int mat[752][480]int sz1=752int sz2=480int fnd1[4]int fnd2[4]int count=0int iter1=1int iter2=1int r1=rand() 751int r2=rand() 479int r3=rand() 751int r4=rand() 479int r5=rand() 751int r6=rand() 479int r7=rand() 751int r8=rand() 479int sz3=1int iter3=1int a=0int b=0int c=sz1+1int d=sz2+1int avg1=1int avg2=1int image=0int iter4=0
image=cvLoadImage(Sample1_pbmpbm)
for (iter4=0 iter4ltsizeof image iter4++) printf(inimage[iter4])
memset(mat 0 sizeof mat)mat[r1][r2]=1mat[r3][r4]=1mat[r5][r6]=1mat[r7][r8]=1
for (iter1=0 iter1ltsz1 iter1++)
for (iter2=0 iter2ltsz2 iter2++)
if (mat[iter1][iter2]=0)
fnd1[count]=iter1
fnd2[count]=iter2
count=count+1
sz3=sizeof fnd1
for (iter3=0 iter3ltsz3 iter3++) a=fmax(fnd1[iter3]a)b=fmax(fnd2[iter3]b)c=fmin(fnd1[iter3]c)d=fmin(fnd2[iter3]d)
avg1=(a+c)2avg2=(b+d)2
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
98
Labview Setupbull Labview VI to allow input for control lawdamping argument pitch
angle
bull Need graphs of outputs to verify predicted behavior (process each image and feedback angle rate to Labview for graphing)
- Separate process that doesnrsquot interfere with
timing
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
99
Image Processing and Motor Controlbull A good motor controller does not necessarily have the required
processing power
- eg Arduino DUE has 84 MHz clock speed
bull A good image processor board does not necessarily have the required peripherals for motor control
- eg Gumstix needs expansion boards to include
peripherals
bull Suggests pairing a good processor with a good motor controller (design solution that has been chosen by at least 1 previous team)
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
100
Motor Controller Code
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
101
Image Processor Code
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
102
Communication Driversbull ldquodelayMicrosecondsrdquo sets baud rate
bull ldquopinModerdquo sets transmit and receive pins
bull ldquodigitalWriterdquo transmits data
bull ldquodigitalReadrdquo receives data
bull ldquoSWprintrdquo used to debugmake sure serial connection functions as expected
bull Maximum reliable baud rate = 9600 bps
httpwwwarduinoccenTutorialSoftwareSerial
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
103
Arduino Functionsbull ldquopinModerdquo sets pin to type of output or input
bull ldquoanalogWriterdquo assigns voltage to a specified pin
bull ldquoanalogReadrdquo gets voltage from specified pin
bull ldquodigitalWriterdquo writes either HIGH or LOW to specified pin
bull ldquodelayrdquo pauses program for specified time in miliseconds
bull ldquoSerialprintlnrdquo prints data to serial port as ASCII text
bull ldquomotorBackwardmotorForwardrdquo user defined functions
bull ldquoSerialbeginrdquo sets library to specified baud rate
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-
Bac
kups
104
Camera Drivers ISPImage Signal Processor (ISP) Drivers
bull VPFE ndash processes raw image signal appears in Linux command as ldquoCCDCrdquo (supporting module)
bull VPBE ndash converts RGB to YUV (preview module) resizes if desired (resizer)
bull Example (supported) order of driver calls SEN-CSI2-CCDC-PREV-RESZ-MEM
-High Performance Pipeline
bull Set image capture rate in actuation call
(eg -r 60)
httpomappediaorgwikiCamera-ISP_DriverCamera_States
- Critical Design Review SPECTRE Solar-sail Pitch Enabling Contro
- Briefing Overview and Context
- Heliogyro Background
- Solar Sail Blade Material
- Orbital Operations
- Blade Oscillations
- Mode Frequencies
- Testing Constraints
- Blade Controller Requirements
- Design Solution
- Blade Housing
- CubeSat Bus
- Rope Ladder Analog
- FBD
- Slide 15
- CPEs
- Control Law
- Control Law Introduction
- Requirements For Sensors
- Requirements For Actuators
- Requirements For Computational Time
- Summary of the Control Law
- Actuators
- Actuation Design
- Mass Budget
- Rotary Actuator Requirements and Solution
- Mass Budget (2)
- Linear Actuator Requirements and Solution
- Slide 29
- Sensing
- Sensor Design
- Camera Requirements and Selection
- Range of Motion - Markers
- Sensor Deflection Calculations
- Electronics
- Motor Controller
- Image Processor Overo
- Expansion Board Pinto
- Connection Diagram
- Power
- Power Budget
- Software
- Image Processor
- Motor Controller (2)
- Verification and Validation
- Test Setup
- Manual Mode Excitation
- Test Setup Air Damping
- Flapping mode Control Law
- Twisting Mode Control Law
- Project Risk
- Risk Assessment
- Risk Management
- Project Planning
- Organizational Chart
- Work Breakdown Structure
- Work Plan
- Work Plan Critical Path
- Cost Plan
- Test Plan
- Backup Slides
- Frequency Testing Tested Blades
- Damping Ratios
- Time Requirements
- Requirement for Actuators
- Requirements for Rotary Actuators
- Requirements for Linear Actuators
- Requirements for Actuators
- Requirements for damping system
- Control Law Design
- Control Law Design (2)
- State Space model Twisting Mode
- Membrane-Ladder Assumption
- Control Law Assumptions
- Control Law Design (3)
- Control Law Design (4)
- Key Elements to be Purchased
- Mechanical Components to be Purchased
- Parallel Shaft Misalignment Mitigation
- Linear actuation Tolerancing
- Linear Motion Requirement
- Binding Ratio
- Binding Prevention
- Gear Ratio
- Gear Backlash
- Image Processing in Space
- Expected Deflections (Flapping)
- Expected Deflections (Twisting)
- Camera Requirements (Space)
- Camera Setup (Space)
- Camera Requirements Geometry
- Camera Requirements Geometry (2)
- Encoder Wiring
- Motor Power
- RS232 Level Shifter
- LED
- Slide 97
- Labview Setup
- Image Processing and Motor Control
- Motor Controller Code
- Image Processor Code
- Communication Drivers
- Arduino Functions
- Camera Drivers ISP
-