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P14372 Gate Review Update Presentation. Kaitlin Peranski Kyle Lasher Kyle Jensen Spencer Wasilewski Jeremy Berke Chris Caporale. Agenda. Power Analysis Response Time Transfer Function Control Algorithm Bode Plot CAD Housing Models Risk Assessment by Component - PowerPoint PPT Presentation
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P14372 Gate ReviewUpdate Presentation
Kaitlin PeranskiKyle LasherKyle Jensen
Spencer WasilewskiJeremy Berke
Chris Caporale
Power Analysis Response Time Transfer Function Control Algorithm Bode Plot CAD Housing Models Risk Assessment by Component Cost Analysis/BOM/Order Plan Questions for NST
Agenda
Power Analysis
NST ~ 7 ms Data Acquisition ~ .5 ms Software Interpretation and Control ~ 3 ms Communication to NST ~ .2 ms Total Time = 10.7 ms Leaves 2 ms of overhead
Total Response TimeWorst Case
NST ~ 4 ms Data Acquisition ~ .5 ms Software Interpretation and Control ~ 1 ms Communication to NST ~ .2 ms Total Time = 5.7 ms Leaves 7 ms of overhead
Total Response TimeExpected Time
To integrate the gyroscope data, Newton’s Method is applied to incoming data
Transfer Function Derivation
?
Control AlgorithmBack-Up
Computing the correction can also be done by taking the following steps:1) Integrate incoming data and store2) Once there are 32 data points of position
compute an FFT on the data.3) Keep only those frequencies that are above a
certain amplitude threshold.4) Invert the remaining spectrum.5) Compute the inverse FFT.6) Send to NST module.7) Repeat
Control AlgorithmBack-UpThe incoming integrated data will be held in an
array that removes the oldest data to make room for the newest.
x[n-1] x[n-2] x[n-3] ... x[n-32]
x[n]This seems like a foolish thing to do because the only processing being done in the frequency domain is picking out the dominant frequencies and then inverting the resulting spectrum. It uses way more computation time than the proposed method and there is no reason to suspect a more than marginal, if that, increase in performance.
Bode PlotThe peaks happen at 2n / Ts , if a pure sine wave is an input at these frequencies then the integrator will sample at the peaks of the wave and cause the output to increase with out bound
CAD Housing Models
Housing Layout
Housing Layout Side View
Risk Assessment: Battery
Component Risk Effect Cause Likelihood Severity Importance (L*S) Action Owner
Inappropriate source chosen 1 2 2
Thorough power consumption analysis according to test plan
Kyle J
Short circuit 2 3 6Review design layout and
manufacturing quality EE Group
Power consumption larger than anticipated 1 2 2
Thorough power consumption analysis
follwing test planKyle J
Battery Power source failure Device failure
Risk Assessment: Gyroscope
Component Risk Effect Cause Likelihood Severity Importance (L*S) Action Owner
Inadequate sensor specified 1 3 3
Adequate understanding of operating parameters
following test planEE Group
Sensor manufacturer defect 1 2 2
Test sensor according to test plan and replace if
necessaryEE Group
Incorrect biasing 2 3 6 Check build quality (voltages)
EE Group
Gyroscope Poor sensor accuracyPoor vibration
sensing/compensaton
Risk Assessment: Processor
Component Risk Effect Cause Likelihood Severity Importance (L*S) Action Owner
Drive NST module past it's max position
Damaged module Error in code 1 3 3 Turn on failsafe in NST controller
EE Group
Poor data processingInaccurate calculation of
required corrections Poor Algorithm 2 3 6Extensive Algorithm
development and testing according to test plan
EE Group
Send wrong control signal to NST module
Lower than expected vibration reduction
Poor signal encoding 2 3 6 Test control signal encoding
EE Group
Processor
Risk Assessment: Housing
Component Risk Effect Cause Likelihood Severity Importance (L*S) Action Owner
Safety Hazard Injury to user Sharp edges 3 3 9 Break sharp edges after machining
Spencer
Injury to user Case becomes hot 3 3 9
Test running temperature of components before
installation/Benchmark NST power
consumption/use different type of material for covers
following test plan
Group
Damaged components Components become too hot
1 3 3
Test running temperature of components before
installation following test plan
Group
Device OverheatHousing
Risk Assessment: System
Component Risk Effect Cause Likelihood Severity Importance (L*S) Action Owner
Selected compoments out of stock
Redesign mechanical layout
High demand for electrical components
2 2 4 Check frequently, find back up components.
Group
Safety hazard Injury to user Electric shock 3 3 9Check build quality/ Proper grounding/
clearances and creepageEE Group
System
Risk Assessment: Test Bench
Component Risk Effect Cause Likelihood Severity Importance (L*S) Action Owner
Pinch point 1 3 3
Understand testing producedures and
indicate pinch points on test bench using signage.
ME Group
Shock hazard 3 3 9Check build quality;
proper grounding accoding to test plan
ME Group
Can’t drive frequency/amplitude of test
bench
Unable to test required range Improperly specified motor 1 3 3
Peform physical test using prototype before
building.ME Group
Test Bench
Injury to userSafety hazard when using
test bench
Cost Analysis/BOM/Order Plan
1. Can you remove the USB connection from the board and leave contacts to solder wires to?
Questions for NST