Group EGyrobot Senior Design Project

Mid-Term Presentation

October 30, 2002

Group Members

Peter Love Charly Hermanson Andrew Rylander Patricia Findley

Overview

Project Goals Design Strategy Hardware Cost Listing Software Web Page Problems Current Status

Project Goals

To gain more experience with hands-on design

To enhance our ability to work well in a team environment

To become more efficient with communication skills

To design a gyroscopic pendulum

Design Strategy

Separate the workload into hardware and software

Build the physical portion first to maximize our efficiency

Use two portions of coding for the software: balancing and swing-up

Gantt Chart

8/28 9/4 9/11 9/18 9/25 10/2 10/9 10/16 10/23 10/30 11/6 11/13 11/20 11/27 12/4

Weekly Report

Physical Design

Hardware Assembly

Software Design

Testing

Modifications

Final Report

Task Milestone

Hardware

Encoder Motor Shaft Bearings Arm Flywheel Custom Linkages

Hardware Diagram

Encoder

Manufacturer: US Digital Specifications:

Optical quadrature 1024 CPR 5V DC (TTL) Set screw disc mounting .375 inch shaft

Cost: $55.19

Encoder Theory

Encoder Theory (cont’d)

1. 45 degree offset LED pairs generate pulses.2. Pulses phases compared to each other to

determine direction.3. Counter incremented or decremented

depending on direction.4. Counter sampled into control system.

Motor

Manufacturer: Pittman Specifications: 9237S011

24V DC 439.4 g 81.2 m Nm of continuous torque 544 m Nm peak torque 500 CPR quadrature encoder

Cost: $148.04

Shaft

Manufacturer: Custom (us) ½ inch aluminum Cost: $3.00

1 end machined to .375 inch for encoder

1 end threaded to allow arm mounting

Bearings

Manufacturer: Dayton Specifications:

Pillow block Low friction Ball bearings Set screw collars

Cost: $20.64 (pair)

Arm

Manufacturer: Custom (us) Specifications:

½ x 2 inch aluminum stock Drilled for shaft Bolt pattern to mount and

countersink motor.

Cost: $7.00

Flywheel

Manufacturer: Custom Specifications

Brass Set screw mounting 5mm shaft mount

Cost: Free

Cost Listing

Motor: $148.04 Shaft: $ 3.00 Bearings: $ 20.64 Arm: $ 7.00 Encoder: $ 55.19 Flywheel: $ 0.00

TOTAL COST: $233.87

Software

Interface: ServoToGo via MATLAB

Controls: Simulink

Completed: Balancing algorithm

Balancing Program

•Theta 1

•Shaft Position

•Theta 1 dot

•Shaft Velocity

•Theta 2 dot

•Flywheel Velocity

NOTE: May add integrating function for Theta 1 to avoid saturation

Web Page

•Based in FLASH 5.0 to incorporate media content

•Filled with information and drawings

Problems

The original shaft was made of hardened steel and was unable to be threaded

Coordinating meetings was difficult at times Problems with Windows / MATLAB

interface Hardware problems with ServoToGo board

Conclusion

The physical design and implementation of the gyrobot is complete

Current Status: The Windows/MATLAB interface problems have affected our progress with the software design

Next Step: Once the lab’s software issues are resolved, testing will begin