CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data...

30
CONTROLLER

Transcript of CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data...

Page 1: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

CONTROLLER

Page 2: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

AGENDA• Hyperloop

• Competition

• Team

• Printed Circuit Board

• Sensor Data

• Actuation

• Communication

• Conclusion

• Questions

2

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 3: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

INTRODUCTION• Celeste Bean

• Connor Buckland

• Ben Hartl

• Cameron McCarthy

• Connor Mulcahey

3

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 4: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

HYPERLOOP• Cities < 700 miles apart

• Max speed of 760 mph

4

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 5: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

HYPERLOOP• Depressurized steel tube

• Magnetic levitation

5

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 6: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

COMPETITION• Organized by Elon Musk and SpaceX

• Design and build a proof of concept pod

• Compete in Summer 2016 on 1-mile long track

6

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 7: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

COMPETITION

7

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 8: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

DESIGN WEEKEND• 1200 original applicants

• 1 of 120 teams invited to Design Weekend at Texas A&M

8

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 9: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

DESIGN WEEKEND• 1 of 30 teams admitted to the final stage of the competition

• Few teams with a Computer Engineering Team

9

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 10: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

UCSB TEAM

10

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 11: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

UCSB TEAM• 23 undergraduate students

• Computer Engineering

• Computer Science

• Mechanical Engineering

• Electrical Engineering

• Physics

• Economics

11

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 12: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

UCSB TEAM• $50,000 budget raised from donors, crowd funding, and UCSB

12

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 13: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

UCSB TEAM• Length: 14’ (4.3m); Width: 3’5” (1.0m); Height: 3’4” (1.0m)

13

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 14: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

PRINTED CIRCUIT BOARD

14

• 8.1” x 8.1” printed circuit board

• (2) ARM Cortex-M4

microcontrollers

• 430 components

• Designed for flexibility

• Sensor Data

• Telemetry & communication

• Actuation

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 15: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

SENSOR DATA

15

• Must report:

• 3D position, velocity, and acceleration

• Roll, pitch, and yaw

• Temperature

• Pressure

• Power consumption

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 16: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

NAVIGATION SYSTEM

16

• Find position, velocity, and acceleration

• The tube has reflective strips every 100’

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 17: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

NAVIGATION SYSTEM

17

• Photoelectric sensor detects strips

• 2 inertial accelerometer determine position between strips

• Velocity compared to hard-coded profile for safety

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 18: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

ATTITUDE SYSTEM

18

• Find roll, pitch, and yaw

• 4 short ranging sensors on the bottom for roll and pitch

• 4 long ranging sensors on the sides for yaw

X Y

Z

Pitch

Roll

Yaw

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 19: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

SENSOR LOCATIONS

19

• Photoelectric sensors (2) – navigation• Long ranging sensors (4) – data acquisition• Short ranging sensors (4) – stability• System Circuit Board

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 20: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

BATTERY MANAGEMENT

20

• Detects battery packs’ voltage levels

• Issues alerts is voltage is too low or high

• Determines current draw to calculate power consumption

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 21: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

MAGNETIC LEVITATION

21

• Controls 6 Arx Pax H3.0 magnetic levitation engines

• Interface with motors via ASi BAC motor controller

• Programmable via ASi BACDoor software

• Motor speed controlled using analog 0 – 5 V signal

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 22: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

TRANSIT ACTUATION

22

• Raises and lowers the pod to various heights to levitate or rest upon wheels

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 23: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

TRANSIT ACTUATION

23

• Motor activates service propulsion wheel to move pod through tube

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 24: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

BRAKE ACTUATION

24

• Air valve actuates eddy current braking system

• Rotates the magnetic arrays

Eddy current braking for high speed Friction brakes to come to full stop

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 25: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

BRAKE ACTUATION

25

• Air valve actuates secondary friction brakes

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 26: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

EMERGENCY PROTOCOL

26

• Emergency state activated by:

• Emergency pod stop command

• Large deviations in velocity profile

• Protocol

• Engage eddy current brakes

• Engage frictional brakes at lower speeds

• Disengage brakes once pod stop completed

• Disengage magnetic levitation engines

• Use linear actuator to activate service propulsion wheels

• Engage service propulsion motor until tube exit completed

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 27: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

COMMUNICATION

27

• Must communicate sensor data once per second

• SpaceX provides a Network Access Panel (NAP) that provides wireless

network access

• Ethernet module on printed circuit

board sends data

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 28: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

NETWORKING APPLICATION

28

• Developed secure

application level

protocol

• Displays and logs

sensor data

• Sends control

messages

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 29: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

CODE ARCHITECTURE

29

• Managed a git repository for version control

• Ensures that code remains clean

• Avoids merge conflicts

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion

Page 30: CONTROLLERAGENDA • Hyperloop • Competition • Team • Printed Circuit Board • Sensor Data • Actuation • Communication • Conclusion • Questions 2 Hyperloop HYPERLOOP

CONCLUSION

30

• Thank you to Dr. John Johnson and Will Miller

• Thank you to Elon Musk and SpaceX

• Thank you to our generous sponsors

Jonathan Siegel Tilt Contributors

Hyperloop

Competition

Team

Printed Circuit

Board

Sensor Data

Actuation

Communication

Conclusion