Date post: | 17-Jan-2016 |
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Team AECE 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)
PlanningPersonal involvement: Michael
OrganizationPersonal involvement: Michael
Assigning tasks Supervising and providing support Weekly report Website
SetupPersonal involvement: Michael
Configuring software Testing servotogo breakout board
Component ProcurementPersonal involvement: Trey
Motor/Encoder Combo Shaft Encoder Bearings and Housing Shaft and Lock Collar
Motor-Encoder ComboPersonal involvement: Trey
Pittman 9237S011 24Vdc High
Torque/Weight Ratio
500 CPR encoder Tried and True
Shaft EncoderPersonal involvement: Trey
US Digital E3 Optical Encoder 2048 CPR Quadrature Type 5/8” Shaft Diameter Hole Option Tool Option Cable Option
Bearings and HousingPersonal involvement: Trey
Dayton-1F636/36/12 Ultra-High Molecular
Weight Polyethylene 5/8” Bore Very Low Friction Self Aligning Inexpensive
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
Hardware construction(Machined Parts)
Personal involvement: Rod
Courtesy of:
Custom Equipment (Greenville, SC)
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
Hardware construction(Flywheel)
Personal involvement: Rod
Drawing changes and omissions Steel Vs. Brass
Material DensityTotal Price
Motor Coupling Pressed fit vs. Set Screw fit
Base constructionPersonal involvement: Rob
Design Goals Stabilization Zero impedance of flywheel and link Safe for test phase
Base construction(Stabilization)
Personal involvement: Rob
Initial design Platform with extension C clamps
Final Design Smaller Platform Incorporating interface
wiring
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
Base construction(Final design)
Personal involvement: Rob
Programming(Control)
Personal involvement: Quy
Swing up control Balancing control
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
Programming(Balancing Control)Personal involvement: Quy
PID (Proportional, Integral, & Derivative) PD (Proportional & Derivative)
Simplest control for inverted pendulum
Troubleshooting
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
Current Progress
One week behind schedule More time will have to be spent on
programming to catch up to deadline
Future plans
Prepare balancing system for Bonus Day Optimize program for Competition Day