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Team A ECE 496: Gyrobot

Team A ECE 496: Gyrobot. Michael Tan Trey Moran Rod Petak Rob Slater Quy Quan. Overview. Planning, organization, setup (Michael) Component procurement (Trey) Gyrobot construction (Rod) Base construction (Rob) Programming (Quy) Troubleshooting, future plans (Quy).

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Team A ECE 496: Gyrobot

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  1. Team AECE 496: Gyrobot Michael Tan Trey Moran Rod Petak Rob Slater Quy Quan

  2. Overview • Planning, organization, setup (Michael) • Component procurement (Trey) • Gyrobot construction (Rod) • Base construction (Rob) • Programming (Quy) • Troubleshooting, future plans (Quy)

  3. PlanningPersonal involvement: Michael

  4. OrganizationPersonal involvement: Michael • Assigning tasks • Supervising and providing support • Weekly report • Website

  5. SetupPersonal involvement: Michael • Configuring software • Testing servotogo breakout board

  6. Component ProcurementPersonal involvement: Trey • Motor/Encoder Combo • Shaft Encoder • Bearings and Housing • Shaft and Lock Collar

  7. Motor-Encoder ComboPersonal involvement: Trey • Pittman 9237S011 • 24Vdc • High Torque/Weight Ratio • 500 CPR encoder • Tried and True

  8. Shaft EncoderPersonal involvement: Trey • US Digital E3 • Optical Encoder • 2048 CPR • Quadrature Type • 5/8” Shaft Diameter • Hole Option • Tool Option • Cable Option

  9. Bearings and HousingPersonal involvement: Trey • Dayton-1F636/36/12 • Ultra-High Molecular Weight Polyethylene • 5/8” Bore • Very Low Friction • Self Aligning • Inexpensive

  10. Shaft and Lock Collar Personal involvement: Trey • Shaft • Purchased 5/8” x 36” • Cut to 5/8” x 18” • Lock Collar • Necessary to Lock the shaft in place • Design Utilizes only one

  11. Hardware construction(Machined Parts)Personal involvement: Rod • Courtesy of: Custom Equipment (Greenville, SC)

  12. Hardware construction(Link)Personal involvement: Rod • Drawing changes and omissions • No extra holes • No black anodize • Motor mounting modification • Coupler Designed • Join link to 5/8” shaft

  13. Hardware construction(Flywheel)Personal involvement: Rod • Drawing changes and omissions • Steel Vs. Brass • Material Density • Total Price • Motor Coupling • Pressed fit vs. Set Screw fit

  14. Base constructionPersonal involvement: Rob • Design Goals • Stabilization • Zero impedance of flywheel and link • Safe for test phase

  15. Base construction(Stabilization)Personal involvement: Rob • Initial design • Platform with extension • C clamps • Final Design • Smaller Platform • Incorporating interface wiring

  16. Base construction(Low Impedance)Personal involvement: Rob • Wire length • Enough for test phase • Keeping the wires neat • Problems and Solutions • Wires were sporadic, tie wraps • Wires caught end of platform extension, location of wraps • Gyrobot could malfunction, kill switch

  17. Base construction(Final design)Personal involvement: Rob

  18. Programming(Control)Personal involvement: Quy • Swing up control • Balancing control

  19. Programming(Swing up Control)Personal involvement: Quy • Non-collocated • Collocated • Sinusoidal • Not exceed +-10V at any angle • Maximum effort near rest position • Minimum effort through inverted position

  20. Programming(Balancing Control)Personal involvement: Quy • PID (Proportional, Integral, & Derivative) • PD (Proportional & Derivative) • Simplest control for inverted pendulum

  21. Problem Mandrel has too much friction Solution Used polyethylene bearings instead Problem The motor encoder was not providing correct output Solution Found that GND and +5 pins are switched Troubleshooting

  22. Current Progress • One week behind schedule • More time will have to be spent on programming to catch up to deadline

  23. Future plans • Prepare balancing system for Bonus Day • Optimize program for Competition Day

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