1. Group E Gyrobot Senior Design Project Mid-Term Presentation October 30, 2002

2. Group Members  Peter Love  Charly Hermanson  Andrew Rylander  Patricia Findley

3. Overview  Project Goals  Design Strategy  Hardware  Cost Listing  Software  Web Page  Problems  Current Status

4. 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

5. 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

6. Gantt Chart

7. Hardware  Encoder  Motor  Shaft  Bearings  Arm  Flywheel  Custom Linkages

8. Hardware Diagram

9. Encoder  Manufacturer: US Digital  Specifications: Optical quadrature 1024 CPR 5V DC (TTL) Set screw disc mounting.375 inch shaft  Cost: $55.19

10. Encoder Theory

11. 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.

12. 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

13. 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

14. Bearings  Manufacturer: Dayton  Specifications: Pillow block Low friction Ball bearings Set screw collars  Cost: $20.64 (pair)

15. Arm  Manufacturer: Custom (us)  Specifications: ½ x 2 inch aluminum stock Drilled for shaft Bolt pattern to mount and countersink motor.  Cost: $7.00

16. Flywheel  Manufacturer: Custom  Specifications Brass Set screw mounting 5mm shaft mount  Cost: Free

17. Cost Listing  Motor: $148.04  Shaft: $ 3.00  Bearings: $ 20.64  Arm: $ 7.00  Encoder: $ 55.19  Flywheel: $ 0.00 TOTAL COST: $233.87

18. Software  Interface: ServoToGo via MATLAB  Controls: Simulink  Completed: Balancing algorithm

19. 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

20. Web Page Based in FLASH 5.0 to incorporate media content Filled with information and drawings

21. 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

22. 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