SPECTRE Testing Readiness Review. TRR Overview Customer:Advisor: Dr. Keats Wilkie Dr. Xinlin Li NASA...
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- Slide 1
- SPECTRE Testing Readiness Review
- Slide 2
- TRR Overview Customer:Advisor: Dr. Keats Wilkie Dr. Xinlin Li
NASA LangleyDepartment of Aerospace Engineering Sciences, CU LASP
SPECTRE MSR Project Overview Justin Schedule Justin Testing: Motors
Corinne Testing: Sensing Chris Testing: Damping Kyle Budget Status
Kyle 2
- Slide 3
- Heliogyro Background Experimental onboard spacecraft propulsion
system Uses high aspect ratio blades that generate thrust from
solar radiation pressure Blades are held in place by centripetal
acceleration of spinning spacecraft bus Has advantages to
traditional solar sails Blades can be pitched for more complex
maneuvering No heavy support structures necessary 3
- Slide 4
- Project Background No heliogyro system has ever been flown
since first proposed in the 1970s NASA in interested in
demonstrating the first heliogyro on a 6U CubeSat platform SPECTRE
is designing a control system which will demonstrate the ability to
1 ) Pitch blades over a +/- 90 degree range relative to a satellite
bus 2) Demonstrate the ability to augment damping flapping and
pitching modes of the blade 2 Blade 6U CubeSat Design: Dimensions
10cm x 20cm x 30cm Housing Bus 4
- Slide 5
- Blade Oscillations Blade Root Blade Tip Housing flap Nominal
Blade Deflected Blade Flapping twist Blade Root Blade Tip Twisting
5
- Slide 6
- CPEs and Levels of Success Critical Project Elements Control
Law Software Matlab GUI, control law Motors Linear and rotary
actuators Image Processing Sensing Raspberry Pi, image processing
algorithm, camera, markers Electronics Arduino Due, Raspberry Pi,
motor drivers, interfacing 6 Success LevelCriteria 1Pitching to
commanded angle of 90 within 5 2 3
- Slide 7
- 7
- Slide 8
- FBD Blade HousingCubeSat Bus Power Supply MatLab User Interface
Rotational Actuator Linear Actuator Camera LED Raspberry Pi Arduino
Due Actuator Drivers Mode, Angle, Rate (UART) Images Voltage RS232
instructions Angle, Logic (UART) Blade Linear Motion Pitching
Motion Legend: -Power -Data -Commands -Motion 6 V 5 V 9 V >1 V
1.8 V 8
- Slide 9
- Control Law block diagram cc + Derivative control PD-
controller Actuator Plant Pendulum or Membrane ladder Plant Tip
Deflection Camera Resolution Transport Delay - 9
- Slide 10
- Control Law block diagram cc + Derivative control PD-
controller Actuator Plant Pendulum or Membrane ladder Plant Tip
Deflection Camera Resolution/ Measurement Error Transport Delay -
Arduino Due/ User Interface Motor Drivers Heliogyro Blade Sensor
(Camera) Image Processor 10
- Slide 11
- Design Changes Since MSR New bevel gear has been selected that
will be easy to modify while retaining structural integrity (acetal
plastic) Image Processing board switched from Overo FireStorm to a
Raspberry Pi Could not get Caspa VL to communicate with the
FireStorm Software/Electrical progress remains on schedule 11
- Slide 12
- Project Schedule
- Slide 13
- Progress Since MSR Manufacturing/Mechanical All housing and bus
components machined All planned purchases have been made Motor
Driver integration complete Software/Electrical Camera/Image
processing interface complete Image processing algorithm completed
and tested User interface completed Motor Controller/MatLab
integration complete 13
- Slide 14
- 14 SPECTRE Schedule Spring Break Week 1 2 3 4 5 6 7 8 9 10 11
12 13 14 15 MSR TRR
- Slide 15
- Spring Break 15 SPECTRE Schedule: Milestones All controller
components made/received Image Processing Code Written and Tested
Damping Testing Can Begin Week 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Control Loop Timing Can be Tested
- Slide 16
- 16 SPECTRE Testing Schedule TestsDurationStart DateEnd
DateStatus Sensor Testing2 weeksFebruary 14February 28Complete
Motor Testing3-4 weeksFebruary 18March 11-18In Progress Damping
Testing2-3 weeksMarch 30April 10-17Pending Tasks remaining before
damping testing can begin Integration of image processor board and
motor control board Installation of motors, drivers, control boards
Completion of motor testing 3-4 weeks total
- Slide 17
- Testing Readiness
- Slide 18
- Testing Scope cc + Derivative Control PD-Controller Actuator
Plant Pendulum or Membrane Ladder Plant Tip Deflection Camera
Resolution/ Measurement Error Transport Delay - Arduino Due/ User
Interface Motor Drivers Heliogyro Blade Sensor (Camera) Image
Processor 18 System Tolerances to Achieve Proper Damping Total
Transport Delay
- Sensor Testing: Systematic Error 25 Blade Remains in 0 twist
and flap unperturbed position. Output from image processing
algorithm is sampled Mean Systematic Error: 2.65 1.88 times smaller
than maximum 5 Systematic Error could be further decreased by using
high accuracy (> 1) level tools when mounting the controller
Measured centroid locations Boundary of maximum allowable
systematic error Mean distance to center pixel: 17.5
pixels=2.65
- Slide 26
- Sensor Testing: Random Error 26 Mean Random Error: < 0.14 7x
smaller than 1 maximum Actual noise is even smaller since blade
small amplitude flapping oscillation is still present Test setup is
not exposed vibrations that would disrupt controller operation
Marker Centroid Position During Testing Marker x coordinate vs.
Time
- Slide 27
- Sensor Testing: Oscillating Blades 27 Sampling Rate: 12.5 Hz
3.13x faster than 4 Hz requirement Algorithm outputs deflections
consistent with expected blade behavior for both modes Camera
captures full range of motion of both modes Measured Twist Angle
vs. Time Measured Flap Angle vs. Time
- Slide 28
- Damping Testing 28 Most important testing for verification and
validation of the controller Completion will validate all project
success levels Housing assembled with deployed blade with LEDs in
dark environment Modes of the blade are excited manually (tip mass
is released in pendulum motion) Sensing measures deflection angles
until oscillation stops without motor actuation Control loop
switched on, Modes excited manually and damped Damping Ratios
calculated, controller damping found by subtracting air
damping
- Slide 29
- Damping Testing Setup 29 Camera FOV Test Stand Frame ~2.5
meters 2 meters Housing Blade Markers 2 meters 1 meter Power Supply
User Interface Surface area under camera covered with black, light-
absorbing materials No Special testing facilities are needed
- Slide 30
- Control Law Expected Performance Twisting Mode Flapping Mode 30
Twisting ModeFlapping Mode Damping ratio without control law (Air
damping only)0.00550.0050 Damping ratio with control law
(Controller and air damping)0.01320.0200 Damping ratio predicted
(air damping is subtracted) 0.00770.0150 Damping ratio required
0.00730.0136
- Slide 31
- Budget
- Slide 32
- 32
- Slide 33
- Component:Number Needed: Lead Times (Weeks): Cost per
Component: Total Price: Overo Firestorm/Pi1Received$232.00
Pinto1Received$ 27.50 Power Adapters2Received$ 10.00$ 20.00 Caspa
VL1Received$ 75.00 Micro SD1Received$ 50.00 Arduino DUE1Received$
50.00 USB Cable3Received$ 3.00$ 9.00 Linear Motor1Received$690.00
Linear Motor Driver1Received$226.00 Rotary Motor1Received$220.00
Rotary Motor Driver1Received$226.00 LEDs2Received$ 10.00 Aluminum
Sheet1Received$ 50.00 Misc. Wires1Received$100.00 Misc.
Screws1Received$100.00 Rotary Encoder1Received$ 50.00 Hardened
Steel Shaft1Received$ 24.00 Linear Bearing with Pillow Block
1Received$ 40.00 Shaft Support2Received$ 44.00 Bevel Gear1Received$
50.00 Turntable Bearing1Received$ 5.00 Radial Berings1Received$
5.00 Precision Shaft (hollow)1Received$ 40.00 Mounting
Components1Received$ 40.00 TOTAL$ 3015.60 33 Additional Purchases
Raspberry Pi + Camera Module ~$75 Additional Arduino Due Board ~$60
2 RS232 shifters replacement ~$35 Additional Bevel Gear ~$30 ~$200
Budget Breakdown
- Slide 34
- Backup Slides
- Slide 35
- Testing Requirements Functional RequirementsTesting
MethodsTesting Status Controller housing must be able to
accommodate one blade capable of providing the spacecraft with a
0.1 mm/s ^2 acceleration By Inspection-- Controller must be able to
pitch blades to 90 with 5 of accuracy Motor TestingIn Progress
Blade Damping TestingPending Controller must be capable of sensing
blade deflections without an ambient light source Sensing TestingIn
Progress Controller and blade occupy 2U of volume (10cm x 10cm x
20cm) By Inspection-- Controller must run on approximately 5 watts
of power By Inspection-- Controller must conform to Cubesat weight
requirement ~1.3 kg/U, total of 2.6 kg By Inspection-- 35
- Slide 36
- MatLab GUI 36
- Slide 37
- Motor Test - Software Flow Matlab uses the predicted blade
position as input to the control law. Motor commands are generated
and passed to the Arduino over Serial USB. Arduino receives the
commands, and relays the information over Serial TTL to the
converter. The data is then converted to RS232, and passed to the
motor driver. The motor driver interprets the command and moves the
actuator. A logic analyzer is used to receive position data from
the motor driver. Command X MATLAB Converter Driver Serial USB
Serial TTL Serial RS232 Command X Logic Analyzer Position DataPulse
Generator Arduino
- Slide 38
- Control Law input Blade Position and Angular Velocity Currently
using input data from predictive model MATLAB uses the simulation
run time at each iteration step to interpolate the dataset, as if
it were receiving real-time data. Control Law output Root (Angular)
Position If control law is active, uses derivative gain to
calculate the required root position Motor command is constructed
and sent to the Arduino over Serial output. Commands sent every
0.09 seconds INPUTS OUTPUT
- Slide 39
- 39 Margin: $1,984.40 All planned purchases have been made
- Slide 40
- Image Processing Algorithm 40 Filter Applied Y < 212 Cr <
100 Cb < 100 RGB YCbCr (0,0, 0) (255,255, 255)
- Slide 41
- Motor Testing Outline 41 Motors Connected To Drivers Drivers
Connected To User Interface Motor are commanded to move as
predicted by the Simulink model Driver Encoder output used to track
motor position over time, calculate rates and errors Motors are
connected to CubeSat, and process is repeated Driver RS232 Adapter
Arduino Due Logic Analyzer (records driver encoder output) MatLab
Connection Motor Connection Both motors are testing while outside
of the housing to test software interfacing, and while installed in
the housing to test errors induced by friction, mechanical
interfacing
- Slide 42
- 42 Leveled with small circle level to within 5 degrees (for
error requirements) Clamped to ladder tops Ground Wooden Test Stand
Frame 2.5 meters 2 meters Housing Blade Markers 2 meters Ladders
from
http://imgkid.com/wooden-ladder-clip-art.shtmlhttp://imgkid.com/wooden-ladder-clip-art.shtml
1 meter
- Slide 43
- Component:Number Needed: Lead Times (Weeks): Cost per
Component: Total Price: Overo Firestorm-P13$159.00 Pinto13$ 27.50
Power Adapters23$ 10.00$ 20.00 Caspa VL13$ 75.00 Micro SD10$ 50.00
Arduino DUE16-8$ 50.00 USB Cable30$ 3.00$ 9.00 Linear
Motor13$690.00 Linear Motor Driver18$226.00 Rotary Motor13$220.00
Rotary Motor Driver16-8$226.00 LEDs20$ 10.00 Aluminum Sheet11$
50.00 Misc. Wires?0$100.00 Misc. Screws?0$100.00 Rotary Encoder13$
50.00 Hardened Steel Shaft11$ 24.00 Linear Bearing with Pillow
Block 11$ 40.00 Shaft Support21$ 44.00 Bevel Gear11$ 50.00
Turntable Bearing11$ 5.00 Radial Berings11$ 5.00 Precision Shaft
(hollow)11$ 40.00 Mounting Components11$ 40.00 TOTAL$ 3051.60
Current Expenditures $3051.60 All parts have been purchased Margin
$1984.40 Margin is sufficient to repurchase any component if needed
43