1. ECE 496 TEAM POETA FINAL PRESENTATION Anna Hart Brad Heath Matthew Poeta Michael Rock Debbie Schneider Jae Sin

2. OUTLINE INTRODUCTION/RULES INTRODUCTION/RULES HARDWARE DESIGN HARDWARE DESIGN CONTROLS DESIGN CONTROLS DESIGN PROBLEMS, SUGGESTIONS PROBLEMS, SUGGESTIONS RESULTS RESULTS –BONUS DAY –COMPETION DAY THANKS THANKS CONCLUSION CONCLUSION

3. INTRODUCTION WEAPONS OF MASS DESTRUCTION (IN THE HANDS OF EVIL) WEAPONS OF MASS DESTRUCTION (IN THE HANDS OF EVIL) CRUISE SHIPS OF THE FUTURE (IN THE HANDS OF GOOD) CRUISE SHIPS OF THE FUTURE (IN THE HANDS OF GOOD)

4. RULES INVERTED PENDULUM BEHAVIOR INVERTED PENDULUM BEHAVIOR TWO LINKS, EACH 18-INCHES LONG TWO LINKS, EACH 18-INCHES LONG ONLY ONE MOTOR MAY BE USED ONLY ONE MOTOR MAY BE USED ONLY ENCODERS MAY BE CONNECTED TO THE ARMS ONLY ENCODERS MAY BE CONNECTED TO THE ARMS FIGURE 1 SHOWS PENDUBOT SCHEMATIC FIGURE 1 SHOWS PENDUBOT SCHEMATIC

5. SCHEMATIC

6. BLOCK DIAGRAM

7. CONTROLS DESIGN SWING-UP SWING-UP SWITCH CONTROL SWITCH CONTROL BALANCE BALANCE ALTERNATIVE METHODS ALTERNATIVE METHODS

8. CONTROLS DESIGN

9. SWING-UP CONTROL CONSTANT VOLTAGE OUTPUT TO MOTOR CONSTANT VOLTAGE OUTPUT TO MOTOR VOLTAGE CUT OFF FROM MOTOR AT EXPERIMENTAL ANGLE VOLTAGE CUT OFF FROM MOTOR AT EXPERIMENTAL ANGLE MOMENTUM OF ARM CARRIES LINKS TO DESIRED TRANSITION ANGLE MOMENTUM OF ARM CARRIES LINKS TO DESIRED TRANSITION ANGLE

10. SWING-UP CONTROL

11. SWITCH CONTROL ONCE THE LINKS WERE IN DESIRED POSITIONS BALANCE CONTROL TURNED ON ONCE THE LINKS WERE IN DESIRED POSITIONS BALANCE CONTROL TURNED ON –MOTOR LINK WITHIN ±35 DEGREES OF VERTICAL –ENCODER LINK WITHIN ±6 DEGREES OF MOTOR LINK ANGLE

12. SWITCH CONTROL

13. BALANCE CONTROL FOUR PARAMETERS: FOUR PARAMETERS: –POSITION OF MOTOR ENCODER –VELOCITY OF MOTOR ENCODER –POSITION OF LINK ENCODER –VELOCITY OF LINK ENCODER  (ERRORS x GAIN)  V OUT TO MOTOR  (ERRORS x GAIN)  V OUT TO MOTOR

14. BALANCE CONTROL

15. ALTERNATIVE METHODS SWING UP FROM ECE 496 CD SWING UP FROM ECE 496 CD SINUSOIDAL SWING-UP SINUSOIDAL SWING-UP

16. HARDWARE DESIGN ENCODERS ENCODERS –1000 PULSES PER REVOLUTION, DUAL QUADUATURE CHANNEL –SUPPLY VOLTAGE: 5-24 VDC –CURRENT: 175 mA

17. HARDWARE DESIGN MOTOR MOTOR –90 VDC PERMANENT MAGNET, ½ HP, 1725 RPM

18. HARDWARE DESIGN PENDUBOT ARM PENDUBOT ARM

19. PROBLEMS ARM DESIGN IS NOT IDEAL ARM DESIGN IS NOT IDEAL –DESIGNED SO THAT THERE WAS NO WEIGHT AT THE TOP. DURING BALANCING, FOUND THAT NOT HAVING WEIGHT RESULTED IN NO INERTIA. –ATTACHMENT OF LINK ENCODER ARMS WERE DANGEROUS! ARMS WERE DANGEROUS! –SHARP EDGES

20. PROBLEMS (cont.) ENCODERS ARE TOO BIG AND HEAVY ENCODERS ARE TOO BIG AND HEAVY SPRING IN LINK ENCODER BROKE SPRING IN LINK ENCODER BROKE NEEDED ENCODER CABLE CONNECTORS NEEDED ENCODER CABLE CONNECTORS –CABLES KEPT COMING LOOSE SOME WIRES FAILED TO WORK SOME WIRES FAILED TO WORK WIRES FROM RCA CONNECTOR SOLDERED TO ENCODER CABLE FREQUENTLY CAME LOOSE WIRES FROM RCA CONNECTOR SOLDERED TO ENCODER CABLE FREQUENTLY CAME LOOSE

21. PROBLEMS (cont.) TIME SPENT IN ACQUIRING MOTOR TIME SPENT IN ACQUIRING MOTOR –LAWRENCE (“BUBBA”, scary man) –FRICKS –COLUMBIA - HONEYWELL MOTOR BREAKOUT BOARD FILES WERE INCORRECT BREAKOUT BOARD FILES WERE INCORRECT LINEAR AMP OVERHEATED AND DIED LINEAR AMP OVERHEATED AND DIED ORIGINAL SWING-UP CONTROL METHOD DID NOT WORK ORIGINAL SWING-UP CONTROL METHOD DID NOT WORK

22. SUGGESTIONS DON’T WASTE TIME DON’T WASTE TIME BUILD ARM BEFORE ORDERING PARTS BUILD ARM BEFORE ORDERING PARTS HAVE MORE INFORMATION ABOUT PARTS BEFORE ORDERING HAVE MORE INFORMATION ABOUT PARTS BEFORE ORDERING START CALLING VENDORS EARLY START CALLING VENDORS EARLY KNOW WHAT YOU ARE LOOKING FOR BEFORE YOU GO TO A JUNK YARD KNOW WHAT YOU ARE LOOKING FOR BEFORE YOU GO TO A JUNK YARD

23. MORE SUGGESTIONS DOUBLE STICK TAPE: NOT GOOD FOR EVERTHING DOUBLE STICK TAPE: NOT GOOD FOR EVERTHING NEVER START CONTROL PROGRAM WITH GAIN ALL THE WAY UP. NEVER START CONTROL PROGRAM WITH GAIN ALL THE WAY UP. NEVER ATTEMPT TO CATCH THE PENDUBOT WITH BARE HANDS NEVER ATTEMPT TO CATCH THE PENDUBOT WITH BARE HANDS NEVER WORK ON PENDUBOT ALONE NEVER WORK ON PENDUBOT ALONE

24. YET MORE SUGGESTIONS MAKE SURE THE BATHROOM WINDOWS ARE OPEN MAKE SURE THE BATHROOM WINDOWS ARE OPEN HAVE LOTS OF PADDING HAVE LOTS OF PADDING USE SOLID WIRE USE SOLID WIRE BUY A LOT OF ELECTRICAL TAPE BUY A LOT OF ELECTRICAL TAPE NEED A LOT OF SLACK IN CABLES NEED A LOT OF SLACK IN CABLES

25. BONUS DAY RESULTS

26. COMPETITION DAY RESULTS GROUP B WINS GROUP B WINS –TOP TIME: 1.12 SECONDS GROUP E DOES NOT WIN GROUP E DOES NOT WIN –SWING-UP CONTROL GOOD –BALANCING CONTROL UNSTABLE SATURDAY, DECEMBER 2 SATURDAY, DECEMBER 2 –AT LAST, TEAM POETA ENJOYS SUCCESS!

27. SPECIAL THANKS AND ACKNOWLEDGEMENTS From ECE 496: – –For Design advice, troubleshooting help and moral support.. » »Group A - Darla King, Scott Schauberger, Ruben Suzara » »Group B - Andy Halavonich » »Group C - Robert Helms, Bryan Ripple » »Group D - Michael Bryant, Spencer Farland, Carey Salisbury (Group D - mostly for moral support..Thanks guys!!)

28. SPECIAL THANKS AND ACKNOWLEDGEMENTS Not from ECE 496: » »Uncle Jesse at Lawrences Salvage Yard - for clearing up our misconception that a DC motor can turn both ways! » »Jeremy Rudbeck - for technical and moral support » »Adam Baier, Alex Funk, Todd Dunn, Tim Cobb - because they meant well » »Gary Poeta - for assistance in re-forming the pendubot arm and mounting the link encoder after our "accident"

29. SPECIAL THANKS AND ACKNOWLEDGEMENTS Not from ECE 496: » »Jason Anderson(Dr. Dawson's Grad Student) - for simulink advice and help mounting the link encoder » »Dennis Moses(Dr. Dawson's Grad Student) - for ALL his help » »Johnny Allison(Advanced Automation) - for technical advice and working as liason between Group E and Advanced Automation

30. SPECIAL THANKS AND ACKNOWLEDGEMENTS Not from ECE 496: – –Mark Townsend(and machine shop at Advanced Automation)- for machining the pendubot arms Advanced Automation – –Jim Hunter at BEI - for donating the encoders for the links BEI – –Jim at Grainger - for donating the DC motorGrainger

31. THANKS PC BREAKOUT BOARD COMPONENTS DONATED BY A GRANT FROM THE CLEMSON UNIVERSITY ECE DEPARTMENT PC BREAKOUT BOARD COMPONENTS DONATED BY A GRANT FROM THE CLEMSON UNIVERSITY ECE DEPARTMENT

32. CONCLUSION WE WOULD LIKE TO CONCLUDE THAT …. WE WOULD LIKE TO CONCLUDE THAT ….

33. QUESTIONS ??