Problem Statement

The purpose of the design project is the construction of a platform control system used to augment the Electrical Engineering Controls Laboratory for the Fall 1997 semester. The system must control the global orientation of a central platform. The system consists of four degrees of freedom, three of which are controlled using DC motors. The inner degrees of freedom must incorporate the functionality of a gyroscope. An Inertial Measurement Unit (IMU) measures the platform orientation, which is to interface with a personal computer. The platform should be light, small, and mobile; able to be handheld, yet retain a sturdy base. The team is responsible for construction of the frame and structure; for the design and construction of the interface between the sensors, the PC, and the motors, the development of related software, and complete documentation of the solution. Completion of the system by the end of the Summer 1997 semester is required.

Proposed Technical Solution

The physical system is to consist of the following components: the upper frame, the lower frame, the motors and encoders, and the PC interface boards. Both frames are to be constructed using aluminum members. The IMU and the structure implementing the four degrees of rotational freedom will comprise the upper frame unit. DC servo motors operating through 90 degree drives will control the orientation of the platform. Encoders attached to the axes will provide feedback to the control loop. In addition to housing all necessary amplifiers, the lower frame unit must provide a stable base and secure attachment for the upper unit. The DC motor amplifiers, the encoder sensors and the IMU will interface with a personal computer via several PC interface boards attached to the expansion bus. Software developed for the Microsoft Windows operating system will provide the interface between the user and the system.

Major Problem

The major problems in this project will occur in testing of the device and in writing the control software for the device. Our greatest risk is, of course, unforseen problems not encountered until manufacturing is completed.

Budget for Inertial Platform Control Project
 

Quantity	Description	Unit Cost	Total Cost
1	Materials and Labor for Frame	$1000	$1000
1	Bearings, gears, weight slugs, fasteners, etc.	$450	$450
1	Computer and software including Visual C++, Office, and Matlab license.	$3500	$3500
2	Motors	$420	$840
1	Motor	$320	$320
3	Encoders	$300	$900
1	Three axis motion control board for PC	$1000	$1000
3	Amplifiers	$300	$900
1	Custom PC Interface Card	$200	$200
1	Miscellaneous Parts (wires, cables, connectors, chips)	$500	$500
	Grand Total		$9610

 

Project Time Requirements
 

Objective	Man-hours
Research	125
Design & Development	100
Construction	75
Testing	180
Documentation	100
Total	580

 

Client

Team Members

 

Faculty Advisor