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P14372 Gate Review Update Presentation

P14372 Gate Review Update Presentation. Kaitlin Peranski Kyle Lasher Kyle Jensen Spencer Wasilewski Jeremy Berke Chris Caporale. Agenda. Power Analysis Response Time Transfer Function Control Algorithm Bode Plot CAD Housing Models Risk Assessment by Component

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P14372 Gate Review Update Presentation

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  1. P14372 Gate ReviewUpdate Presentation Kaitlin Peranski Kyle Lasher Kyle Jensen Spencer Wasilewski Jeremy Berke Chris Caporale

  2. Agenda • Power Analysis • Response Time • Transfer Function • Control Algorithm • Bode Plot • CAD Housing Models • Risk Assessment by Component • Cost Analysis/BOM/Order Plan • Questions for NST

  3. Power Analysis

  4. Total Response TimeWorst Case • NST ~ 7 ms • Data Acquisition ~ .5 ms • Software Interpretation and Control ~ 3 ms • Communication to NST ~ .2 ms • Total Time = 10.7 ms • Leaves 2 ms of overhead

  5. Total Response TimeExpected Time • NST ~ 4 ms • Data Acquisition ~ .5 ms • Software Interpretation and Control ~ 1 ms • Communication to NST ~ .2 ms • Total Time = 5.7 ms • Leaves 7 ms of overhead

  6. Transfer Function Derivation • To integrate the gyroscope data, Newton’s Method is applied to incoming data ?

  7. Control AlgorithmBack-Up Computing the correction can also be done by taking the following steps: 1) Integrate incoming data and store 2) Once there are 32 data points of position compute an FFT on the data. 3) Keep only those frequencies that are above a certain amplitude threshold. 4) Invert the remaining spectrum. 5) Compute the inverse FFT. 6) Send to NST module. 7) Repeat

  8. Control AlgorithmBack-Up The incoming integrated data will be held in an array that removes the oldest data to make room for the newest. This seems like a foolish thing to do because the only processing being done in the frequency domain is picking out the dominant frequencies and then inverting the resulting spectrum. It uses way more computation time than the proposed method and there is no reason to suspect a more than marginal, if that, increase in performance. x[n]

  9. The peaks happen at 2n / Ts , if a pure sine wave is an input at these frequencies then the integrator will sample at the peaks of the wave and cause the output to increase with out bound Bode Plot

  10. CAD Housing Models

  11. Housing Layout

  12. Housing Layout Side View

  13. Risk Assessment: Battery

  14. Risk Assessment: Gyroscope

  15. Risk Assessment: Processor

  16. Risk Assessment: Housing

  17. Risk Assessment: System

  18. Risk Assessment: Test Bench

  19. Cost Analysis/BOM/Order Plan

  20. Questions for NST • Can you remove the USB connection from the board and leave contacts to solder wires to?

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