Presentation:

The T-Pan panoramic turret is inspired by an industrial 2-axis panoramic turret. The educational version consists of 3D-printed mechanical parts and industrial mechanical components.

The T-Pan panoramic turret uses incremental encoders to digitize panoramic photos via pan and tilt movements, controlled by speed and position. The poster or view is divided into horizontal strips or sectors.

Electronic features:

• Electronic board integrating 2 motor drivers & 2 microcontroller modules
• Microcontroller programmed in C for fast acquisition tasks (measurement of motor speed and current)
• Microcontroller programmable in Python for servo control management and the
  possibility of implementing a PID controller, among other things
• Inertial measurement unit for initializing and verifying servo control setpoints

Mechanical characteristics:

The test bench allows the light source to be moved along three axes: elevation, tilt, and rotation.

The incremental encoders have a resolution of 2000 points per revolution.

Each movement can be locked so that only one of them is used.

The movements are recorded and can be compared to the movements of the Solar Tracker, allowing any discrepancies to be analyzed.

IT teaching activities:

• Functional analysis
• Kinematics
• Energy
• Statics
• Dynamics
• Speed control
• Position control
• Python programming

STI2D teaching activities:

• Discover the components of the 2-axis panoramic turret
• Compare two types of motorization from a technical and economic perspective
• Model position control using Scilab multiphysics software
• Evaluate the difference between the behavior of the real system and the results provided by the model
• Identify the components and functions of the speed/position control for each movement (pan and tilt)
• Adjust the PID controllers in real mode for Pan and Tilt
• ...

Reference:

S2I//2050: 2-axis panoramic turret with speed and position control T-PAN SI/STI2D