NATCAR TEAM 9 SP2011

TIANBOXU
HEIMDALL SIAO
MAXWELLCHUNG
 • Prevents drastic Brake
overshoot Circuitry
• Improved
cornering
• Improved gain New
(10x) Sensing
• Improved Circuit
sensor stability
• Lessens Dual
thermal load Linear
• Improved servo Regulators
stability
HARDWARE
SENSORS
11
10
9
Ideal Actual
8
Error Magnitude (cm)

7
6
5
4
3
2
1
0
0 -8 -6 -4 -2 0 2 4 6 8 10
-1
Displacement (cm)
SOFTWARE: BLOCK DIAGRAM
SOFTWARE: CHARACTERISTICS
Auto calibration of sensors: maximum sensor
values are stored during a calibration period,
allowing reliable position error calculations
regardless of environment.
Velocity estimation: the number of samples
between edge-triggered LED Hamamatsu
readings are used to estimate velocity.
CONTROLS: VELOCITY
A proportional controller was used for velocity adjustments.
KP, acc = -1/8
KP, dec = 1/100
PWM% = PWM%* KP, velocity *|velocitydetected – velocitydesired|
A quadratic relation was used for brake time.
KP = 75
brake time = ((velocitydetected – velocitydanger)/ KP, brake)2
KP values were determined experimentally.
CONTROLS: STEERING
Steering Constants
Kp = 6.87 rad/m (40 degree angle for 10 cm error)

Kd = 36.18 rad/(m/s) (Our code samples sensors at 4.5kHz)

Steer [rad] = Kp(error[m]) + Kd(derivative [m/s])

Initial problems Fix

Oscillations Lower Kp, eliminate

Ki, and increase Kd

Overshoot on Lower Kp
steps
Slow response Optimize
interrupt code
STEP RESPONSE
Constant Velocity = 2.87 m/s
Step size = 6cm
Overshoot = 17% Settling time = 0.6s
TEAM MEMBER CONTRIBUTIONS
PCB Design: Heimdall, Tianbo
Mechanics: Heimdall, Tianbo
Sensing Circuit: Heimdall, Maxwell, Tianbo
Boom Construction: Heimdall, Maxwell, Tianbo
Velocity Controller: Heimdall, Maxwell
Brake Controller: Heimdall
Acceleration Controller: Heimdall, Maxwell
Steering Controller: Heimdall, Maxwell
Debugging and Tuning: Heimdall, Maxwell, Tianbo
Calibration Algorithm: Heimdall, Maxwell