Light Tracker Project ME 479 Mechatronics

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Light Tracker ProjectME 479 - Mechatronics

• Chris Shay
• Brad Heyel
• John Wernette

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Mechanical System

• 1 DC motor
• 4 pairs of timing pulleys
• Rotating actuation UFO tracker
• Gear reduction - 3201

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Electronic system

• Photocells
• Switch
• Handyboard

Rear photocell
Front photocells
partition
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Program Logic

• Priority-based control strategy
• 3 priorities
• 1) Highest kill switch stops motor
• 2) Middle lost - rotates if rear sensor is
  less than front sensors
• 3) Lowest PID controller makes actuator
  follow the light
• PID controller is implemented as code

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Flowchart
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PID Gain Tuning

• Kp tuning

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PID Gain Tuning (cont.)

• Ti tuning

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PID Gain Tuning (cont.)

• Td tuning

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System Response