MEMS Mirror Based Stabilization Control System : For UAV Platform Laser Communication

Sammanfattning

This thesis presents the design, implementation, measurement, and simulation of a Proportional, Integral, Derivative (PID) controller in a laser communication terminal intended for Unmanned Aerial Vehicle (UAV) platforms. The PID controller was integrated into the fine pointing assembly (FPA) to correct pointing inaccuracies caused by UAV-induced vibrations and natural disturbances. The FPA utilized a micro-electromechanical system (MEMS) mirror for two-dimensional laser beam steering, a 4-quadrant detector (4QD) to sense the beam’s positional displacement, and a microcontroller unit (MCU) to compute the necessary corrections. The PID controller was tuned with proportional, integral, and derivative gains of 1, 5000, and 0, respectively. This tuning resulted in a non-optimized performance, achieving a settling time of approximately 9 seconds for disturbances within a normalized 4QD coordinate range of −0.6 to 0.6 in both position dimensions. While successful, the implementation highlights the need for further optimization to improve system responsiveness.