Team A ECE 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)

Planning Personal involvement: Michael

Organization Personal involvement: Michael  Assigning tasks  Supervising and providing support  Weekly report  Website

Setup Personal involvement: Michael  Configuring software  Testing servotogo breakout board

Component Procurement Personal involvement: Trey  Motor/Encoder Combo  Shaft Encoder  Bearings and Housing  Shaft and Lock Collar

Motor-Encoder Combo Personal involvement: Trey  Pittman 9237S011  24Vdc  High Torque/Weight Ratio  500 CPR encoder  Tried and True

Shaft Encoder Personal involvement: Trey  US Digital E3  Optical Encoder  2048 CPR  Quadrature Type  5/8” Shaft Diameter  Hole Option  Tool Option  Cable Option

Bearings and Housing Personal 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 Density Total Price  Motor Coupling Pressed fit vs. Set Screw fit

Base construction Personal 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