Transcript PPT
Electronics and Power Distribution AME 470: Senior Design ASME Bulk Material Transporter Matt Bertke, Paul DeMott, Patrick Hertzke, Will Sirokman 4 November 2004 Electronics Circuit Diagram Senior Design: Team Burja _________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________ Electronics Senior Design: Team Burja _________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________ Control Box The following controls will be mounted on the control box: 2 Slide Potentiometers Control Motors Mouser Part 312-9201; 5K linear, 45 mm travel 6 Pushbutton Switches Functions: algorithm ascend, algorithm descend, swing arm manual fwd, swing arm manual reverse, dump rice, reset Jameco Part 26622; momentary pushbutton 1 Master Switch Jameco Part 196154CR; rocker switch Electronics Senior Design: Team Burja _________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________ Onboard The following controls will be onboard: Fuse and Fuse Holder 2 9V and 9 AA Batteries and Holders 1 Rotary encoder and associated gears. Quadrate (incremental) output. Electronics Senior Design: Team Burja _________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________ Processors The control box is connected to the Mini-Max Processor. The Mini-Max, in turn, connects to 3 H-Bridges, which each power one motor. H Bridge Mini-Max Electronics Senior Design: Team Burja _________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________ Control Philosophy Philosophy The system will be designed to incorporate automation for precision and ease of use, but will include operator feedback and human control. • Drive motors Slide pots allow independent motor control with reverse, neutral, and variable forward speeds. • Swing arm The rotary encoder senses arm angle and microprocessor drives motor for fully automated operation. Manual override switch available to operator. • Dumping mechanism Pushbutton control activates solenoid and releases door latch. Electronics Directions as viewed from side, with back to the left, front to the right Logic/Program Structure Start Blue shading denotes loop Processor converts analog input from pots to forward/neutral/reverse PWM for treads Function button pressed Descend pressed Dump pressed No Ascend pressed Electronics Electronics Electronics Discharge Rice dump pressed Solenoid is energized by completion of circuit during press Return to start Note This action does not interrupt the driving microprocessor sequence; the solenoid is not connected to the microprocessor Interrupt Buttons RESET • The program returns to START • The drive motors are not affected • If not at horizontal, swing arm should be returned to the position via manual control • MANUAL OVERRIDE (REVERSE) MANUAL OVERRIDE (FORWARD) Calls a subroutine where: Calls a subroutine where: • The swing arm motor is driven reverse as long as button is held down. • The swing arm motor is driven forward as long as button is held down. • Neither swing arm algorithm nor drive motors are not affected; there is no reset. Motors remain controllable via the potentiometers. • Neither swing arm algorithm nor drive motors are not affected; there is no reset. Motors remain controllable via the potentiometers. • Upon release of the button, the subroutine exits and the program resumes. • Upon release of the button, the subroutine exits and the program resumes. • Note: Operator should not initiate manual override while the processor is driving the swing arm without first pressing RESET. • Note: Operator should not initiate manual override while the processor is driving the swing arm without first pressing RESET. Swing arm algorithm will be restarted on the button press. Electronics Senior Design: Team Burja _________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________ Location of components The electronic components will be placed on the chassis below the rice bin. • There is flexibility regarding the horizontal placement of electronic components such as battery packs. • They will be located as needed to effect the proper center of gravity. Expected location is shown in the figure. Electronics Senior Design: Team Burja _________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________ Power distribution Replacement It is anticipated that the 9V batteries will last for the duration of the 10 minute competition, while the AA batteries will likely be replaced halfway through. To ease this process, two 8 AA Battery holders are purchased. Each will have a pinned connector which can be plugged and unplugged for easy transfer. Pulse Width Modulation Pulse width modulation allows motors to operate at reduced average voltage while maintaining torque without increasing current draw. Power Management To maximize available power to the motors, the 12V from the AA batteries are used solely to power the motors. All other power is provided by the 9V batteries. All allowed batteries are used. Electronics Senior Design: Team Burja _________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________ Power distribution Energizer E91 Alkaline Energizer NH15 Rechargeable