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ECE 496 TEAM POETA FINAL PRESENTATION

ECE 496 TEAM POETA FINAL PRESENTATION. Anna Hart Brad Heath Matthew Poeta. Michael Rock Debbie Schneider Jae Sin. OUTLINE. INTRODUCTION/RULES HARDWARE DESIGN CONTROLS DESIGN PROBLEMS, SUGGESTIONS RESULTS BONUS DAY COMPETION DAY THANKS CONCLUSION. INTRODUCTION.

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ECE 496 TEAM POETA FINAL PRESENTATION

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  1. ECE 496TEAM POETAFINAL PRESENTATION Anna Hart Brad Heath Matthew Poeta Michael Rock Debbie Schneider Jae Sin

  2. OUTLINE • INTRODUCTION/RULES • HARDWARE DESIGN • CONTROLS DESIGN • PROBLEMS, SUGGESTIONS • RESULTS • BONUS DAY • COMPETION DAY • THANKS • CONCLUSION

  3. INTRODUCTION • WEAPONS OF MASS DESTRUCTION (IN THE HANDS OF EVIL) • CRUISE SHIPS OF THE FUTURE (IN THE HANDS OF GOOD)

  4. RULES • INVERTED PENDULUM BEHAVIOR • TWO LINKS, EACH 18-INCHES LONG • ONLY ONE MOTOR MAY BE USED • ONLY ENCODERS MAY BE CONNECTED TO THE ARMS • FIGURE 1 SHOWS PENDUBOT SCHEMATIC

  5. SCHEMATIC

  6. BLOCK DIAGRAM

  7. CONTROLS DESIGN • SWING-UP • SWITCH CONTROL • BALANCE • ALTERNATIVE METHODS

  8. CONTROLS DESIGN

  9. SWING-UP CONTROL • CONSTANT VOLTAGE OUTPUT TO MOTOR • VOLTAGE CUT OFF FROM MOTOR AT EXPERIMENTAL ANGLE • MOMENTUM OF ARM CARRIES LINKS TO DESIRED TRANSITION ANGLE

  10. SWING-UP CONTROL

  11. SWITCH CONTROL • ONCE THE LINKS WERE IN DESIRED POSITIONS BALANCE CONTROL TURNED ON • MOTOR LINK WITHIN ±35 DEGREES OF VERTICAL • ENCODER LINK WITHIN ±6 DEGREES OF MOTOR LINK ANGLE

  12. SWITCH CONTROL

  13. BALANCE CONTROL • FOUR PARAMETERS: • POSITION OF MOTOR ENCODER • VELOCITY OF MOTOR ENCODER • POSITION OF LINK ENCODER • VELOCITY OF LINK ENCODER • (ERRORS x GAIN)  VOUT TO MOTOR

  14. BALANCE CONTROL

  15. ALTERNATIVE METHODS • SWING UP FROM ECE 496 CD • SINUSOIDAL SWING-UP

  16. HARDWARE DESIGN • ENCODERS • 1000 PULSES PER REVOLUTION, DUAL QUADUATURE CHANNEL • SUPPLY VOLTAGE: 5-24 VDC • CURRENT: 175 mA

  17. HARDWARE DESIGN • MOTOR • 90 VDC PERMANENT MAGNET, ½ HP, 1725 RPM

  18. HARDWARE DESIGN • PENDUBOT ARM

  19. PROBLEMS • ARM DESIGN IS NOT IDEAL • DESIGNED SO THAT THERE WAS NO WEIGHT AT THE TOP. DURING BALANCING, FOUND THAT NOT HAVING WEIGHT RESULTED IN NO INERTIA. • ATTACHMENT OF LINK ENCODER • ARMS WERE DANGEROUS! • SHARP EDGES

  20. PROBLEMS (cont.) • ENCODERS ARE TOO BIG AND HEAVY • SPRING IN LINK ENCODER BROKE • NEEDED ENCODER CABLE CONNECTORS • CABLES KEPT COMING LOOSE • SOME WIRES FAILED TO WORK • WIRES FROM RCA CONNECTOR SOLDERED TO ENCODER CABLE FREQUENTLY CAME LOOSE

  21. PROBLEMS (cont.) • TIME SPENT IN ACQUIRING MOTOR • LAWRENCE (“BUBBA”, scary man) • FRICKS • COLUMBIA - HONEYWELL MOTOR • BREAKOUT BOARD FILES WERE INCORRECT • LINEAR AMP OVERHEATED AND DIED • ORIGINAL SWING-UP CONTROL METHOD DID NOT WORK

  22. SUGGESTIONS • DON’T WASTE TIME • BUILD ARM BEFORE ORDERING PARTS • HAVE MORE INFORMATION ABOUT PARTS BEFORE ORDERING • START CALLING VENDORS EARLY • KNOW WHAT YOU ARE LOOKING FOR BEFORE YOU GO TO A JUNK YARD

  23. MORE SUGGESTIONS • DOUBLE STICK TAPE: NOT GOOD FOR EVERTHING • NEVERSTART CONTROL PROGRAM WITH GAIN ALL THE WAY UP. • NEVERATTEMPT TO CATCH THE PENDUBOT WITH BARE HANDS • NEVERWORK ON PENDUBOT ALONE

  24. YET MORE SUGGESTIONS • MAKE SURE THE BATHROOM WINDOWS ARE OPEN • HAVE LOTS OF PADDING • USE SOLID WIRE • BUY A LOT OF ELECTRICAL TAPE • NEED A LOT OF SLACK IN CABLES

  25. BONUS DAY RESULTS

  26. COMPETITION DAY RESULTS • GROUP B WINS • TOP TIME: 1.12 SECONDS • GROUP E DOES NOT WIN • SWING-UP CONTROL GOOD • BALANCING CONTROL UNSTABLE • SATURDAY, DECEMBER 2 • AT LAST, TEAM POETA ENJOYS SUCCESS!

  27. SPECIAL THANKS AND ACKNOWLEDGEMENTS • From ECE 496: • For Design advice, troubleshooting help and moral support.. • Group A - Darla King, Scott Schauberger, Ruben Suzara • Group B - Andy Halavonich • Group C - Robert Helms, Bryan Ripple • Group D - Michael Bryant, Spencer Farland, Carey Salisbury(Group D - mostly for moral support..Thanks guys!!)

  28. SPECIAL THANKS AND ACKNOWLEDGEMENTS • Not from ECE 496: • Uncle Jesse at Lawrences Salvage Yard - for clearing up our misconception that a DC motor can turn both ways! • Jeremy Rudbeck - for technical and moral support • Adam Baier, Alex Funk, Todd Dunn, Tim Cobb - because they meant well • Gary Poeta - for assistance in re-forming the pendubot arm and mounting the link encoder after our "accident"

  29. SPECIAL THANKS AND ACKNOWLEDGEMENTS • Not from ECE 496: • Jason Anderson(Dr. Dawson's Grad Student) - for simulink adviceand help mounting the link encoder • Dennis Moses(Dr. Dawson's Grad Student) - for ALL his help • Johnny Allison(Advanced Automation) - for technical advice and working as liason between Group E and Advanced Automation

  30. SPECIAL THANKS AND ACKNOWLEDGEMENTS • Not from ECE 496: • Mark Townsend(and machine shop at Advanced Automation)- for machining the pendubot arms • Jim Hunter at BEI - for donating the encoders for the links • Jim at Grainger - for donating the DC motor

  31. THANKS • PC BREAKOUT BOARD COMPONENTS DONATED BY A GRANT FROM THE CLEMSON UNIVERSITY ECE DEPARTMENT

  32. CONCLUSION • WE WOULD LIKE TO CONCLUDE THAT ….

  33. QUESTIONS??

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