group e gyrobot senior design project mid-term presentation october 30, 2002
TRANSCRIPT
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Group EGyrobot Senior Design Project
Mid-Term Presentation
October 30, 2002
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Group Members
Peter Love Charly Hermanson Andrew Rylander Patricia Findley
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Overview
Project Goals Design Strategy Hardware Cost Listing Software Web Page Problems Current Status
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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
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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
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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
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Hardware
Encoder Motor Shaft Bearings Arm Flywheel Custom Linkages
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Hardware Diagram
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Encoder
Manufacturer: US Digital Specifications:
Optical quadrature 1024 CPR 5V DC (TTL) Set screw disc mounting .375 inch shaft
Cost: $55.19
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Encoder Theory
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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.
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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
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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
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Bearings
Manufacturer: Dayton Specifications:
Pillow block Low friction Ball bearings Set screw collars
Cost: $20.64 (pair)
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Arm
Manufacturer: Custom (us) Specifications:
½ x 2 inch aluminum stock Drilled for shaft Bolt pattern to mount and
countersink motor.
Cost: $7.00
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Flywheel
Manufacturer: Custom Specifications
Brass Set screw mounting 5mm shaft mount
Cost: Free
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Cost Listing
Motor: $148.04 Shaft: $ 3.00 Bearings: $ 20.64 Arm: $ 7.00 Encoder: $ 55.19 Flywheel: $ 0.00
TOTAL COST: $233.87
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Software
Interface: ServoToGo via MATLAB
Controls: Simulink
Completed: Balancing algorithm
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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
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Web Page
•Based in FLASH 5.0 to incorporate media content
•Filled with information and drawings
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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
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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