ABL Tracking System

PRESENTED BY: SIDNEY JONES AND AJ MARIN

Overview

IntroductionBackgroundDesign SpecificationsPreliminary DesignSimulation ResultsConclusion

Introduction

Design System: Closed Loop Position

Top Level: Track a triangle waveform with minimum error meeting certain

design requirements

Background

Motivation for design:

ABL Tracking System or Airborne Laser System (YAL 1A) aboard the Boeing747-400F Tactical ballistic missiles

Must be able to accurately track objects and differentiate between multiple targets Triangle waveform

Design Specifications

Time Domain Specs:Settling time of 1 secPercent overshoot of 5%zero steady state error

Frequency Domain Specs:Phase margin > 50⁰

Preliminary Design

PID Controller: Meets the steady-state specifications Meets time constant requirements Meets the percent overshoot specifications

Digilent Waveform Generator: Triangle waveform

Analytical Design:Choosing gives and

Simulation Results

MATLAB/SIMULINK System Model:

Predicted Performance: Root-locus, Bode plots, time domain, …

Simulation Results

Predicted Performance: Time Domain Simulation:

Simulation Results

Predicted Performance: Root Locus:

-1000 -800 -600 -400 -200 0 200-300

-200

-100

0

100

200

300Root Locus

Real Axis (seconds-1)

Imag

inar

y A

xis

(sec

onds

-1)

Simulation Results

Predicted Performance: Bode Plot:

-100

-50

0

50

100

150

Mag

nitu

de (d

B)

10-4

10-2

100

102

104

-180

-135

-90

Pha

se (d

eg)

Bode DiagramGm = -Inf dB (at 0 rad/s) , Pm = 58.6 deg (at 4.96 rad/s)

Frequency (rad/s)

Conclusion

Anticipated Challenges: Meeting specifications Recording accurate readings for a bode plot Staying stable Noise in physical system

Top-level Block Diagram:

Summary

IntroductionBackgroundDesign SpecificationsPreliminary DesignSimulation ResultsConclusion

Questions/comments