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ECE 496 TEAM POETA FINAL PRESENTATION

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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

ECE 496TEAM POETAFINAL PRESENTATION

Anna Hart

Brad Heath

Matthew Poeta

Michael Rock

Debbie Schneider

Jae Sin

outline
OUTLINE
  • INTRODUCTION/RULES
  • HARDWARE DESIGN
  • CONTROLS DESIGN
  • PROBLEMS, SUGGESTIONS
  • RESULTS
    • BONUS DAY
    • COMPETION DAY
  • THANKS
  • CONCLUSION
introduction
INTRODUCTION
  • WEAPONS OF MASS DESTRUCTION (IN THE HANDS OF EVIL)
  • CRUISE SHIPS OF THE FUTURE (IN THE HANDS OF GOOD)
rules
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
controls design
CONTROLS DESIGN
  • SWING-UP
  • SWITCH CONTROL
  • BALANCE
  • ALTERNATIVE METHODS
swing up control
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
switch control
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
balance control
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
alternative methods
ALTERNATIVE METHODS
  • SWING UP FROM ECE 496 CD
  • SINUSOIDAL SWING-UP
hardware design
HARDWARE DESIGN
  • ENCODERS
    • 1000 PULSES PER REVOLUTION, DUAL QUADUATURE CHANNEL
    • SUPPLY VOLTAGE: 5-24 VDC
    • CURRENT: 175 mA
hardware design17
HARDWARE DESIGN
  • MOTOR
    • 90 VDC PERMANENT MAGNET, ½ HP, 1725 RPM
hardware design18
HARDWARE DESIGN
  • PENDUBOT ARM
problems
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
problems cont
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
problems cont21
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
suggestions
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
more suggestions
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
yet more suggestions
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
competition day results
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!
special thanks and acknowledgements
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!!)
special thanks and acknowledgements28
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"
special thanks and acknowledgements29
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
special thanks and acknowledgements30
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
thanks
THANKS
  • PC BREAKOUT BOARD COMPONENTS DONATED BY A GRANT FROM THE CLEMSON UNIVERSITY ECE DEPARTMENT
conclusion
CONCLUSION
  • WE WOULD LIKE TO CONCLUDE THAT ….
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