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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 l.jpg

ECE 496TEAM POETAFINAL PRESENTATION

Anna Hart

Brad Heath

Matthew Poeta

Michael Rock

Debbie Schneider

Jae Sin


Outline l.jpg
OUTLINE

  • INTRODUCTION/RULES

  • HARDWARE DESIGN

  • CONTROLS DESIGN

  • PROBLEMS, SUGGESTIONS

  • RESULTS

    • BONUS DAY

    • COMPETION DAY

  • THANKS

  • CONCLUSION


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INTRODUCTION

  • WEAPONS OF MASS DESTRUCTION (IN THE HANDS OF EVIL)

  • CRUISE SHIPS OF THE FUTURE (IN THE HANDS OF GOOD)


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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




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CONTROLS DESIGN

  • SWING-UP

  • SWITCH CONTROL

  • BALANCE

  • ALTERNATIVE METHODS



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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



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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



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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



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ALTERNATIVE METHODS

  • SWING UP FROM ECE 496 CD

  • SINUSOIDAL SWING-UP


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HARDWARE DESIGN

  • ENCODERS

    • 1000 PULSES PER REVOLUTION, DUAL QUADUATURE CHANNEL

    • SUPPLY VOLTAGE: 5-24 VDC

    • CURRENT: 175 mA


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HARDWARE DESIGN

  • MOTOR

    • 90 VDC PERMANENT MAGNET, ½ HP, 1725 RPM


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HARDWARE DESIGN

  • PENDUBOT ARM


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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


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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


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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


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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


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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


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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



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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!


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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!!)


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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"


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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


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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


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THANKS

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


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CONCLUSION

  • WE WOULD LIKE TO CONCLUDE THAT ….



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