pdr2 - 5/24/2002 CDIO3 Class Project 68 Subsystem...

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Unformatted text preview: 5/24/2002 CDIO3 Class Project 68 Subsystem Requirements z Determine separation distance z Goal: sense to one-tenth the control tolerance z Determine relative attitude (direction) of vehicle to an angular tolerance dependent on angular controllability z Goal: sense to one-tenth the control tolerance z Full field of view : 360 degrees in two dimensions z Sensing presence of other vehicles to a distance compatible with test facilities Introduction Subsystems Actuation Formation Control Control Metrology Requirements Trades Design Issues Budget Estimates Electronics Structure/Power Operations Implementation Conclusion 5/24/2002 CDIO3 Class Project 69 Trades Sonic and IR based system z Similar to SPHERES metrology z Expected improvement in performance due to 2D operation z New technology should eliminate some accuracy of the errors encountered by SPHERES z Low refresh rate will require the use of gyros and accelerometers Introduction Subsystems Actuation Formation Control Control Metrology Requirements Trades Design Issues Budget Estimates Electronics Structure/Power Operations Implementation Conclusion 5/24/2002 CDIO3 Class Project 70 Design A C B B A s AB t 1 t 3 t 2 Introduction Subsystems Actuation Formation Control Control Metrology Requirements Trades Design Issues Budget Estimates Electronics Structure/Power Operations Implementation Conclusion 5/24/2002 CDIO3 Class Project 71 Design 1 ultrasonic omni-directional transmitter (Mimio) 3 ultrasonic omni-directional receivers (cones) 3 IR receivers & 2 transmitters 1 rate gyro 1 2-axis accelerometer Introduction Subsystems Actuation Formation Control Control Metrology Requirements Trades Design Issues Budget Estimates Electronics Structure/Power Operations Implementation Conclusion 5/24/2002 CDIO3 Class Project 72 Design Introduction Subsystems Actuation Formation Control Control Metrology Requirements Trades Design Issues Budget Estimates Electronics Structure/Power Operations Implementation Conclusion 5/24/2002 CDIO3 Class Project 73 Design System relies only on distance readings Uses data from all three sensors Calculates relative attitude and distance directly to center of vehicle Introduction Subsystems Actuation Formation Control Control Metrology Requirements Trades Design Issues Budget Estimates Electronics Structure/Power Operations Implementation Conclusion 5/24/2002 CDIO3 Class Project 74 Design ( x + x 1 ) 2 + ( y + y 1 ) 2 = d 1 2 ( x + x 2 ) 2 + ( y + y 2 ) 2 = d 2 2 ( x + x 3 ) 2 + ( y + y 3 ) 2 = d 3 2 Y X d 1 Origin at center of vehicle x i and y i are position of the sensors Introduction Subsystems Actuation Formation Control Control Metrology Requirements Trades Design Issues Budget Estimates Electronics Structure/Power Operations Implementation Conclusion 5/24/2002...
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This note was uploaded on 11/08/2011 for the course AERO 16.810 taught by Professor Olivierdeweck during the Winter '07 term at MIT.

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pdr2 - 5/24/2002 CDIO3 Class Project 68 Subsystem...

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