design of multi-detrct surface algorithm for home vacuum aplication - mohamad sahran b. kamilan -...

7/28/2019 Design of Multi-Detrct Surface Algorithm for Home Vacuum Aplication - Mohamad Sahran b. Kamilan - TJ223.P76.M

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DESIGN OF MULTI- DETECT SURFACE ALGORITHM FOR

HOME VACUUM APLICATION

MOHAMAD SAHRAN BIN KAMILAN

This Report Is Submitted In Partial Fulfillment of Requirements for the Degree

of Bachelor in Electrical Engineering

(Power Electronic & Drive)

Fakulti Kejuruteraan Elektrik

Universiti Teknikal Malaysia (UTeM)

May 2008


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ABSTRACT

The main objective of this project is to design and develop a multi-detect

surface algorithm for home vacuum application. In this paper, vacuum controller,

(advance controller for multi detect surface) will be explained and studied. Advance

controller describes the discipline where control method are developed that attempt to

emulate important characteristics of human intelligence. These characteristics include

adaptation and learning, planning under large uncertainty and copying with large

amount of data. This project concerned about the vacuum controller motor speed that

installed an advance controller. The sensor will detect the surface of the variety floor

and give the signal to the controller for determine the speed of the motor. The key

point of this project is that this controller can function and could interface with sensor,

and finally its own actuator that is rotation of the motor. For this projectused PIC

16F873A, sensor and other components. This project is focusing on the automatics

function system and control system that bases on a PIC 16F873A microcontroller. The

usage of the vacuum controller motor speed is to present such items as the user's real

environment. It can make our job easier and simple to use.

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ABSTRAK

Tujuan utama projek ini adalah untuk mencipta dan memajukan satu alat yang

boleh mengesan atau membezakan pelbagai jenis permukaan dan seterusnya

diaplikasikan pengunaannya dalam vakum di rumah. Oleh itu, dalam laporan ini

pengawal vakum vacuum controller for-multi detect surface akan diterangkan.

Advance controller merupakan satu displin dimana satu kawalan dimajukan dan

ianya diadaptasikan atau dicontohi dari kepintaran manusia. Ciri- ciri ini ternasuklah

adaptasi dan pembelajaran, merancang sesuatu yang tidak ditentukan dan menyalin

serta membaca pelbagai data. Justeru itu, projek ini adalah mencipta sejenis vakum

yang boleh mengawal kelajuan motor untuk menyedut sampah mengikut jenis

permukaan yang dikesan oleh sensor dan ianya diadaptasikan dari advance

controller teori. Kunci utama untuk menghasilkan alat ini adalah, alat pengawal yang

boleh membaca dan menghantar isyarat dari sensordan seterusnya motor pada

vakum berputar mengikut arahan yang diberi oleh alat pengawal. Sebagai contoh,

untuk permukaan permaidani, vakum memerlukan kelajuan yang tinggi pada motor

untuk menyedut sampah dan sebaliknya untuk permukaan lantai licin. Untuk projek

ini, PIC 16F873A dan IR sensor digunakan berserta komponen elektronik lain.

Keseluruhan dari projek ini boleh diringkaskan ialah aplikasi dari sistem fungsiautomatik. Hal ini kerana, kelajuan motor berubah dengan sendiri dan bersesuaian

mengikut jenis permukaan yang dikesan. Akhir sekali, penghasilan vakum ini amatlah

praktikal dan sesuai digunakan dalam kehidupan sebenar kerana ia adalah satu alat

yang mudah digunakan dan menyenangkan kerja.

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CHAPTER 1.0

INTRODUCTION

Advance controller describes where control method are developed that attempt

to emulate of human intelligence. Advances in sensors, actuators, computation

technology and communication networks help provide the necessary for

implementation this control hardware.

Advance control methodologies are being applied to robotics and automation,

communications, manufacturing, traffic control, to mention but a few application

areas. Neural networks, fuzzy control, genetic algorithms, planning systems, expert

systems, and hybrid systems are all areas where related work is taking place.

For this project, the design of multi- detect surface algorithm for home vacuum

application will be build to implement the advance controller. This project are bases

on used PIC 16F873A, LM358 and infrared sensor as a main component for

hardware development.

The success of vacuum controller for multi detect surface operation will be used

or implement for home vacuum application. This vacuum controller with automatic

function is mainly to make human job more easily and convenient.

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1.1 Problem Statement

Nowadays, there are many type of vacuum, but not many vacuums that have

an advance or intelligent function. So, vacuum controller for multi detect surface is

build. This vacuum controller is easy to use with an automatic function to make our

work more convenient in a life day.

Otherwise, this vacuum is also low cost designing with low power uses. So,

this vacuum construction is highly practical to develop for human uses.

For this vacuum controller motor speed, it is difficult to design and upgrade

from the type of vacuum that have a basic function. Besides, the controller is hard to

design and have difficult construction.

1.2 Project Objectives

The following objective will be based on PIC 16F873A programming:

1. To design and develop an intelligent controller of the basic type of vacuum.

2. To make the controller can function and could interface with sensor.

3. To develop a system that can control the speed of the rotation motor.

4. To develop a system that has an automatic mode and function controlling.

5. To build and upgrade the function of the basic vacuum that already has.

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1.3 Scope of project

The project final results;

The vacuum controller will be able to control the speed of motor follow suit

the surface of the floor. Based on the PIC 16F873A microcontroller as the heart of

the system.

Approach used in this project;

To control the speed of motor in vacuum, firstly, the sensor will detect the

variety of surface on floor. The sensors that will be used are transmitter and

receiver IR sensor. This sensor emits infrared radiation or signal. Then send

or transmit the signal to the controller that is PIC 16F873A.

The controller will function and the systems will immediately response to

determine the applicable speed of motor.

Finally, the speed of rotation motor follow suits the type of surface floor to

suck the rubbish.

The project involved;

#Hardware;

The hardware development consists of the design, redesigns, testing and

troubleshoots all the circuit involved. It contains of infrared sensor and PICcontroller as a control element. Proteus Professional 6 has been used for all design of

the circuit.

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#Software;

The software part will base on the simulations for all the system parts and the

program development used MikroC program. This program is important because it

give the instruction all the journey of the hardware.

#Firmware;

This project consists of hardware development & software application and

improvement for the existing system. The complete design and development

hardware and software will combine to make vacuum controller for multi-detect

surface. This combination as the final test for the firmware and to ensure this project

is successful follow the planning.

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CHAPTER 2.0

LITERATURE REVIEW

2.1 Introduction

This chapter includes the study of hardware and software development. There

are two aspects in process to be proceeding while doing this project that are software

part and electrical part. For the electrical part, contain part on programmer for

microcontroller PIC16F873A, LM358, IRF 530N control circuit and sensor. For

software part, the MikroC programming C and the Proteus Professional will be used

to simulate the circuit.

2.2 Microcontroller

All microcomputer systems, irrespective of their complexity, are based on

similar building blocks. A microcontroller (or MCU) is a computer-on-a-chip used to

control electronic devices.

These are shown in Figure 1 and consist of the following:

CPU - the part that does all logic and arithmetic functions

RAM - storage for programs and/or program variables

ROM - read-only parts of programs

I/O - connection to external devices

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Figure 2.1: Basic Building Blocks of a Computer

Figure 2.2: A Microcontroller Based System

Most microcontrollers contain circuitry to generate the system clock. This

square wave is the heart beat of the microcontroller and all operations are

synchronized to it. Obviously, it controls the speed at which the microcontroller

functions. All that needed to complete the clock circuit would be the crystal or RC

components. We can, therefore precisely select the operating speed critical to many

applications.

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To summarize, a microcontroller contains (in one chip) two or more of the

following elements in order of importance:

i. Instruction set

ii. RAM

iii. ROM, PROM or EPROM

iv. I/O ports

v. Clock generator

vi. Reset function

vii. Watchdog timer

viii. Serial port

ix. Interrupts

x. Timers

xi. Analog-to-digital converters

xii. Digital-to-analog converters

The CPU or microprocessor is the core component of any microcomputer and

it requires the external components such as the ROM, RAM, I/O to accomplish its

purpose. The difference between the microprocessor and the microcontroller arises

because of their different end-usage. The microcontroller that will be investigated is

the PIC16F873A.

2.3 PIC 16F873A

Basically, we are using programmable IC (PIC) microcontroller to design of

such circuit easier since it allows the programming of specific behaviors in software.PIC microcontrollers are among the cheapest possible microcontrollers, they are

considered relatively low-level microcontrollers and low power consumption which

need some external parts to function.

The PIC 16F873A (Programmable Interface Controller) devices are available

only in 28-pin packages. The PIC 16F873A have one-half of the total on-chip

memory of the PIC 16F876A and PIC 16F877A. This 28 pin devices have three I/O

ports, five channels of A/D converter input channels, fourteen interrupts, PWM

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output, capture and compare registers, power on reset, watchdog timer, power saving

sleep mode, brown-out detection circuitry, in-circuit programming support, USART,

and timers.

Figure 2.3: PIC 16F873A. [8]

The microcontroller acts like the brain of the control system. Microcontroller

chip that has been selected for the purpose of controlling the speed of DC motor is

PIC 16F873A manufactured by Microchip. A typical microcontroller contains all the

memory and interfaces needed for a simple application, whereas a general purpose

microprocessor requires additional chips to provide these functions.

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Figure 2.4: The Pin Diagram of PIC 16F873A. [8]

This chip is selected based on several reasons:

Its size is small and equipped with sufficient output ports without having to

use a decoder or multiplexer.

Its portability and low current consumption.

It has PWM inside the chip itself which allow us to vary the duty cycle of DC

motor drive.

It is a very simple but powerful microcontroller. Users would only need to

learn 35 single word instructions in order to program the chip.

It can be programmed and reprogrammed easily (up to 10,000,000 cycles)

using the universal programmer in robotics lab.

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Figure 2.5: Program Memory Map and Stack of PIC 16F873A. [8]

2.3.1 Program Memory Organization

The PIC 16F873A devices have the 13-bit program counter capable of

addressing a 4K word x 14 bit program memory space. The Reset vector is at 0000h

and the interrupt vector is at 0004h. There are three memory blocks in each of the

PIC devices that are Stack Level, Reset Vector, and Interrupt Vector. The program

memory and data memory have separate buses so that concurrent access can occur.

2.3.2 I/O Ports

For the PIC 16F873A that has been choosing for the controller hardware

design, it has divide into three pin. These pins are PORTA and the TRISA Register,

PORTB and the TRISB Register, PORTC and the TRISC Register. Some pins for

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these I/O ports are multiplexed with an alternate function for the peripheral features

on the device. In general, when a peripheral is enabled, that pin may not be used as a

general purpose I/O pin. All this pins port will be describe in the block diagram

below.

2.3.2.1 PORTA and the TRISA Register

Figure 2.6: Block Diagram of RA3- RA0 Pins. [8]

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Figure 2.7: Block Diagram of RA4/TOCKI Pin. [8]

Figure 2.8: Block Diagram of RA5 Pin. [8]

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PORTA is a 6-bit wide, bidirectional port. The corresponding data direction

register is TRISA. PORTA pins are multiplexed with analog inputs and the analog

VREF input for both the A/D converters and the comparators. The operation of each

pin is selected by clearing/setting the appropriate control bits in the ADCON1 and/or

CMCON registers. The TRISA register controls the direction of the port pins even

when they are being used as analog inputs. So we must ensure the bits in the TRISA

register are maintained set when using them as analog inputs.

Table 2.0: PORTA Functions. [8]

2.3.2.2 PORTB and the TRISB Register

Figure 2.9: Block Diagram of RB3-RB0 Pins. [8]

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Figure 2.10: Block Diagram of RB7-RB4 Pins. [8]

PORTB is an 8-bit wide, bidirectional port. The corresponding data direction

register is TRISB. If there is an interrupt it can wake up the devices from sleep. The

user, in the Interrupt Service Routine can clear the interrupt in following manner:

Any read or write of PORTB. This will end the mismatch condition.

Clear flag bit RBIF.

Table 2.1: PORTB Functions. [8]

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2.3.2.3 PORTC and the TRISC Register

Figure 2.11: PORTC Block Diagram (Peripheral Output Override) RC,

RC. [8]

Figure 2.12: PORTC Block Diagram (Peripheral Output Override) RC. [8]

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PORTC is an 8-bit wide, bidirectional port. The corresponding data direction

register is TRISC. Setting a TRISC bit (= 1) will make the corresponding PORTC

pin an input (the corresponding output driver in a High-Impedance mode). Clearing a

TRISC bit (= 0) will make the corresponding PORTC pin an output.

Table 2.2: PORTC Functions. [8]

2.4 IRF 530N

Power MOSFETs from International Rectifier utilize advanced processing

techniques to achieve extremely low on-resistance per silicon area. This benefit

combined with the fast switching speed device design that HEXFET power

MOSFETs are well known for, provides the designer with an extremely efficient and

reliable device for use in a wide variety of applications. This IRF 530N will combine

with transistor as a switching element for DC motor. Besides, heat sinking is uses

and important to these transistor as a thermal protection. The IRF 530N has three

terminal that is source, gate and drain. The variety application of IRF 530N are:

High current, High speed switching

Solenoid and relay drivers

Regulator

DC-DC & DC-AC converter

Motor control, Audio amplifier

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Figure 2.13: IRF 530N Terminal. [7] Figure 2.14: IRF 530N Internal

Schematic Diagram. [7]

2.5 Infrared Sensor

Sensors are a critical component in a motor control system. They are used to

sense the current, position, speed and direction of the rotating motor. Recent

advancements in sensor technology have improved the accuracy and reliability of

sensors, while reducing the cost.

Many sensors are now available that integrate the sensor and signal-

conditioning circuitry into a single package. In most motor control systems, several

sensors are used to provide feedback information on the motor.

In this project, infrared sensor will used to compare the variety surface of the

floor. These sensors are used in the control loop and to improve the reliability by

detecting fault conditions or different condition.

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Figure 2.15: Transmitter and Receiver Figure 2.16: IR TX-RX Pair SensorIR Sensor Signal

Figure 2.17: The Pair of Infrared Sensor

LED emits infrared radiation. This radiation illuminates the surface in front

of LED. Surface reflects the infrared light. Depending on reflectivity of the surface,

amount of light reflected varies. This reflected light is made incident on reverse

biased IR sensor. When photons are incident on reverse biased junction of this diode,

electron-hole pairs are generated, which results in reverse leakage current. Amount

of electron-hole pairs generated depends on intensity of incident IR radiation.

More intense radiation results in more reverse leakage current. This current

can be passed through a resistor so as to get proportional voltage. Thus as intensity of

incident rays varies, voltage across resistor will vary accordingly. This voltage can

then be given to OPAMP based comparator. So, the output from the comparator can

be read by uC. Alternatively, on-chip ADC can be use in AVR microcontroller to

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measure this voltage. It is because microcontroller only can read the signal in ADC

(Analog to Digital) signal and perform comparison in software.

Figure 2.18: Circuit Diagram for IR Sensor Module. [4]

This circuit is divided into two sections. IR TX and IR RX are to be soldered

on small general purpose Grid PCB. From this module we can use three wires at

about two feet long. Then, connect them to VCC, preset and to ground on main

board. Lastly, the VCC should be connected to 5Vdc supply.

2.6 LM 358- Low Power Dual Operational Amplifier

LM358 is consists of two independent, high gain, internally frequency

compensated operational amplifiers which were designed specifically to operate from

a single power supply over a wide range of voltage. Operation from split power

supplies is also possible and the low power supply current drain is independent of the

magnitude of the power supply voltage. Application areas include transducer

amplifier, DC gain blocks and all the conventional OP amp circuits which now can

be easily implemented in single power supply systems.

The features of LM 358:

Internally frequency compensated for unity gain.

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Large DC voltage gain: 100dB.

Wide power supply range: 3V~32V (or1.5V~16V).

Input common-mode voltage range includes ground.

Large output voltage swing: 0V DC to VCC-1.5V DC.

Power drain suitable for battery operation.

Figure 2.19: LM 358 Pin Function. [5]

2.7 Software Part

2.7.1 MikroC Programming

There are three most common ways can be used to program the PIC

microcontroller, either using the assembly language, PIC Basic or C language. The

assembly language and PIC Basic are considered to be quite messy and complicated

to be used in programming. Furthermore, it may take more time to understand the

deliverables of the built-in functions of assembly language compared to C.

C language is more straightforward and takes shorter time to be understood.

C compiler is made by the third parties to provide viability to the programmer in

coding the PICs. The basic knowledge on C syntax, its built-in functions and pre-

processor are essential in pursuing the project to program the microcontroller. Forthis project MikroC programmer is used.

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Figure 2.20: The MikroC Software

2.7.2 Proteus Professional 6

To draw a complete circuit for a microcontroller, Proteus Professional 6 is

used. This software is like a host features of the PCB layout. Proteus software also

used to simulate the programming after the complete MikroC programming design. It

means the programming that has been design will attach through the Proteus

Software.

The program is a brain of the controller that used to control operation of

automation system. If error occurred while doing the programming, the program

cannot be transfer. The program should be compiling first before attachment.

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Figure 2.21: The Proteus Professional 6 Software

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CHAPTER 3.0

METHODOLOGY

In this project, microcontroller will be used as the controller to control DC

motor speed at desired speed. The block diagram of the system is shown in Figure

3.1. It is a closed-loop control system.

Figure3.1: Basic Block Diagram for DC Motor Speed Control

The actual speed of DC motor will be measured by encoder and feedback to

microcontroller. In microcontroller, it will calculate the error between the desired

speeds with the actual speed. The error will determine duty cycle of pulse-width-

modulation (PWM) in microcontroller. Then, the duty cycle will send to DC motor

driver either accelerate or decelerate DC motor to maintain it at desired speed. So,

the controller is so important and like the brain to determine the suitable speed of the

motor.

Motor

Driver

Sensor

ControllerActual

Speed

Feedback

Speed

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DC

Motor


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3.1 Methodology of the Project

For designing and executing this project, there are few methods that should

be taken for consideration. In ordering to fulfill this project done successfully follow

the planning and schedule, there is a few method that should be taken:

Yes

Yes

No

No

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Software development

Write program

Hardware

development

Make a research

Circuit designing and

testing

Erro

r Erro

r

TroubleshootTroubleshoot

Compile

A

B

START

System Development

design of multi-detrct surface algorithm for home vacuum aplication - mohamad sahran b. kamilan -...

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