Matthew Morris Lalit Tanwar

Transcription

1 Adviser: Dr. Becker-Gomez Tim Southerton Brian Grosso Matthew Morris Lalit Tanwar Kevin Meehan Alex Reid 10/01/13 RC Camera Car SDR 1

2 Background Information Problem Definition Stakeholders RIT Customer Update Customer Requirements Systems Analysis System / Hardware / Software Functional Decomp Engineering Requirements System / Software Architecture Benchmarking Chassis Camera Microcontroller Wireless Comm. Morph Chart / Pugh Matrix Concept Selection Course Console Chassis Microcontroller Mount System Prototyping Chassis Prototyping Adapter Plate Schematic Weight Analysis Differential Drive Simulink Car Power Budget Circuit Diagrams Risk Assessment Test Plan Moving Forward 10/01/13 RC Camera Car SDR 2

3 Overview 10/01/13 RC Camera Car SDR 3

4 Project Goal: Build a RC car platform controlled remotely with intuitive controls and visual feedback that can be expanded to demonstrate Controls to college students. The project needs to be captivating and able to demonstrate multidisciplinary engineering innovation at various RIT events this year and into the future. Deliverables: 1. RC Car Platform with Cameras and Sensors 2. Driving Station with Control 3. Equation of Motion of the System 4. Characterizing Parameters of the System 5. Source Code for Low Level Processing 6. Interface for Student Coding 7. Preliminary Differential Drive Code 8. Supporting Documentation 10/01/13 RC Camera Car SDR 4

5 Customer: Dr. Juan Cockburn Controls Professor, RIT, Computer Engineering (CE) Sponsors: RIT CE Department, Multidisciplinary Senior Design (MSD) Freescale Semiconductor Event Attendees: Imagine RIT Freescale Cup Various Campus Symposiums and Workshops MSD Team Future RIT Researchers Future RIT MSD Teams / Prospective Students 10/01/13 RC Camera Car SDR 5

6 System customer is looking for long term was done by a student at UC Irvine Balanced an RC car using controls algorithm Major Issues: HPI Racing Car ($) Monster Truck Design Titanium Geared Servo ($) Precise, High Torque Steering 22 State Variable Linearized System Model Advising from 4 MIT Professors Two-Wheel Self-Balancing of a Four-Wheeled Vehicle David Arndt et al., IEEE Control Systems Magazine, March 2011 Power to both wheels on the ground High CG Large, Soft Tires Balancing RC Car on Two Wheels 10/01/13 RC Camera Car SDR 6

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8 To Current State 10/01/13 RC Camera Car SDR 8

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12 Revised metrics mapping to functional decomposition on all levels Combined with constraints to make more meaningful function connections Revised metrics with new benchmarking data Mapped new metrics to needs with HOQ Added tests to measure metrics for test plan Detailed Engineering Requirements 10/01/13 RC Camera Car SDR 12

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16 Few affordable chassis options available Most RC cars have open differential drives Custom chassis would require significant time Freescale chassis is donated but needs many modifications 10/01/13 RC Camera Car SDR 16

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18 ages/microsites/freescale% 20Black%20Board.jpg rg/wikipedia/commons/3/3 d/raspberrypi.jpg m/system/0000/3648/ardui no_uno_angle.jpg port/images/2/23/rev_ A5A.jpg 10/01/13 RC Camera Car SDR 18

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20 Concept Selection 10/01/13 RC Camera Car SDR 20

21 First Pugh matrix low datum Inspiration setup High end option scores best but mid-range RC close Custom Chassis may not be worth the extra cost/effort Budget / time constraint issues Current Chassis Good 10/01/13 RC Camera Car SDR 21

22 Tape Lines Cones Banked Course Dog Fence 10/01/13 RC Camera Car SDR 22

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26 Predefined sponsor and provided chassis Nature of RC car development lends itself to rapid prototyping and modification Early prototyping conducted for further system integration testing Documentation of modifications along the way to develop iterated platform design Familiarization with platform and diverse microcontroller options crucial to successful project 10/01/13 RC Camera Car SDR 26

27 ORIGINAL MODEL MODIFIED VERSION Movement! 10/01/13 RC Camera Car SDR 27

28 Adapter plate generated in cap to provide basis for future modifications Design is simple and can be easily made using CNC for mass production More CAD parts to be made for 3D printing 10/01/13 RC Camera Car SDR 28

29 Projected chassis weight slightly under last years RIT Freescale Cup car Bigger wheels may help our car get over obstacles Possibly looking for stronger motors for the drivetrain 10/01/13 RC Camera Car SDR 29

30 Preliminary system model created with PI control algorithm Modifiable once parameters established 10/01/13 RC Camera Car SDR 30

31 Car power budget currently predicts high battery capacity requirement for 1 hr runtime Initial testing suggests that battery weight might be an issue Possible change to specs after further testing 10/01/13 RC Camera Car SDR 31

32 CONSOLE RC CAR 10/01/13 RC Camera Car SDR 32

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34 Current Risk Assessment Financial Budget Overshooting the project budget will cause the project to be incomplete. Probable cause for this would be: Bad benchmarking Project plans not detailed (i.e. delays in shipping) Budget will restrict the following: Prototyping (Little to none depending on components chosen) Multiple backup parts for breakdown Lack of functionality 10/01/13 RC Camera Car SDR 34

35 Runtime Breakdown/Failure Breakdown of mechanical and electrical components during testing and runtime Probable cause for this would be: Bad shielding from elements/ poor electrical shielding and connections Extreme stress tests/ poor mechanical integrity Bad simulation runs/ poor software analysis This will result in: Dysfunctional product Increased stress on already limited budget More time spent on electrical and mechanical debugging/fixing 10/01/13 RC Camera Car SDR 35

36 Test Chassis and Console Verify Physical Component Limitations Test Wireless Communications Functioning Distance Record Data at Imagine RIT User Feedback Likert Scale Statistical Driving Data Finalized Project Deliverables Total Cost, Event Entries, Component Specs, Included System Functionality 10/01/13 RC Camera Car SDR 36

37 Next Three Weeks Establish design for control station Evaluate options for camera, microcontroller, and other electronics Test chassis and determine spatial layout Make choices based on price and power budgets Continuous benchmarking of new technologies and ideas 10/01/13 RC Camera Car SDR 37

38 Budget constraints need to be refined to go forward with component selection More knowledge of control systems is needed to refine the Simulink model Simulink / student interfacing of controls program needs to be better defined for microcontroller selection Movement controller needs to be improved for future testing 10/01/13 RC Camera Car SDR 38

39 House of Quality Test Plan 10/01/13 RC Camera Car SDR 39

40 y (ft) Explored the option of using wheel revs and steering input to map a course for virtual mapping on a GUI Does not account for slip in this version Something to show driving paths using platform sensors Lap x (ft) /01/13 RC Camera Car SDR 40