Title: UAE University College of Engineering Electrical Engineering Department Graduation Project II (ELEC 5902-01)
1UAE UniversityCollege of EngineeringElectrical
Engineering DepartmentGraduation Project II
(ELEC 5902-01)
- GIS Guided Commuting Vehicle
Team Members Hesham Ahmed Hiekal 950710744
Khalid Said Ghadban 980211479 Hamad
Khamis Al Bedwawi 980711002 Mohammed Ata Ul
Kareem 970711528 Supervised by Dr. Raa Said
2Project Goal
- To design and fabricate a robot system or a
vehicle - that is guided in its positioning by a Geographic
- Information System (GIS).
3Block diagram explaining the operation
4Sample Test
- A straight route segment of 1 meter length.
5Testing Procedure
Sample programs to
- Define input and output pins.
- Routines to count pulses from the function
generator. - Routines to control motor motion and direction.
- Testing the motor drive routine (From PIC to
Motor drive chip to DC motor) to verify
functionality and reliability.
6Problems Faced
- Ability to stop immediately.
- Rotation depends on applied load.
- Predefined distances can not be achieved.
- Feasibility of using the stepper motor.
- Alignment of the motors, wheels and encoder.
- Encoder disk readings were not precise.
- Shaft connected to the wheels are too long for
the design. -
7Route Prototype
8Robot Platform Redesign
9Shaft Encoder Attaching Mechanism
Adjustable screw connected to the platform
Shaft Encoder Opto-swtich
10Encoder Wheel
Encoder Wheel with more Segments
48 Segment Wheel
- Alternating slots make reflecting and
non-reflecting surfaces. - More stripes give greater resolution to
measurements. - The stripes cannot be narrow than the field of
view of the slotted optical switch.
11Shaft Encoder Design
12Wheel Shaft encoder connected to the DC motor
13Designed Shaft Encoder
14New DC motors with reduction gear box
- The DC motor comes with a gear box, therefore a
higher output torque is produced. - The shaft comes with screw for attachment
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17MOTOR-RS-380 -- Mabuchi RS-380 with Gear box
Manufacturer Mabuchi Motors (Japan)Operating
voltage DC 7V-12VTorque (7V) 839g.cm Torque
(14V) 959g.cmSpeed under 7V without load
16,200 rpmSpeed under 12V without load 21,900
rpmCurrent drawn 0.5A-0.7ADimension (Motor
body) 37.8mm (length) x 29.20mm
(diameter) Dimension (with metal gear box) 75mm
(length)
18PIC Microcontroller
PIC microcontroller Features
- Compact size.
- Low power consumption.
- (Basic) programming language with powerful
functions. - Programmable analog and digital I/O pins.
Move to PIC microcontroller Because of
- Problems in Handy Board.
- Compatibility.
- Cheaper microcontroller.
- Size, power consumption and other capabilities.
19First vehicle test
- A straight segment of 1 meter length.
- For each segment we have to determine the
equivalent number of pulses. - 8 pulses per round.
- Wheel radius.
- Programming solutions to overcome any expected
error. - Make sure we dont miss any pulse.
20Control Signal
Read Pulses
PIC Microcontroller
Wheel Encoder
Motor Drive
DC Motor
Power
Mechanical rotation
21Control Flow Chart
Motor Drive
PIC
DC motor
Wheel Encoder
Feed Back
22- Program consist of similar code blocks
- Straight segments codes.
- Left and right turns.
- User interface (using Visual Basic)
- User select number and types of segments.
- Editing the data base in the controlling program
(producing the code as a text document).
23- Program consist of similar code blocks
- Straight segments codes.
- Left and right turns.
- User interface (using Visual Basic)
- User select number and types of segments.
- Editing the data base in the controlling program
(producing the code as a text document).
24Why use Motor Drive
- The PIC does not have the ability to directly
power the motors because it can only provide low
current in mA. - For this reason we need external voltage to drive
the motor which can be controlled through the
motor drive. - Using the motor drive help in controlling the
rotation direction of the motor.
25How it works
- The PIC will send an on-off signal to the motor
drive chip which can handle the current flow to
the motor. - The on-off signal through inputs and enable pins
will - turn the motor ON or OFF
- Specify the direction of rotation
- The motor drive has the ability to drive two
motors in both direction.
26 Pins Function
- Input pins are for controlling the direction of
rotation. - Output pins are connected to motor.
- Enable pins are used to turn motor power on or
off. - Power pin is used to supply external voltage to
motor.
27Block and Connection Diagram
28New Motor Drive
29Tasks Completed
- Writing the backbone routine that will control
the traveled distance based on the encoder
reading. - Writing the backbone routine that will control
the traveled distance based on the encoder
reading. - Testing the robot motion along a simple route (a
straight segment of 1 meter length). - Full control of motor motion was tested, which
was not successful. - Testing the motor drive routine (From PIC to
Motor drive chip to DC motor) to verify
functionality and reliability. - Understanding the problems that occurred, turning
back to the previous approach which was using a
dc motor with a shaft encoder. - Motor Selection.
- Platform mechanical design.
30Tasks in Progress
- Finalize the robot prototype design attaching
mechanism to different robot components in the
workshop. - Route Prototype design.
- Increase encoder resolutions to 12 holes of 0.5
cm radius. - Wires management.
31- Thanks for listening, we would be glad to answer
any questions!