Download presentation
Presentation is loading. Please wait.
Published byCurtis Jefferson Modified over 9 years ago
1
Team A ECE 496: Gyrobot Michael Tan Trey Moran Rod Petak Rob Slater Quy Quan
2
Overview Planning, organization, setup (Michael) Component procurement (Trey) Gyrobot construction (Rod) Base construction (Rob) Programming (Quy) Troubleshooting, future plans (Quy)
3
Planning Personal involvement: Michael
4
Organization Personal involvement: Michael Assigning tasks Supervising and providing support Weekly report Website
5
Setup Personal involvement: Michael Configuring software Testing servotogo breakout board
6
Component Procurement Personal involvement: Trey Motor/Encoder Combo Shaft Encoder Bearings and Housing Shaft and Lock Collar
7
Motor-Encoder Combo Personal involvement: Trey Pittman 9237S011 24Vdc High Torque/Weight Ratio 500 CPR encoder Tried and True
8
Shaft Encoder Personal involvement: Trey US Digital E3 Optical Encoder 2048 CPR Quadrature Type 5/8” Shaft Diameter Hole Option Tool Option Cable Option
9
Bearings and Housing Personal involvement: Trey Dayton-1F636/36/12 Ultra-High Molecular Weight Polyethylene 5/8” Bore Very Low Friction Self Aligning Inexpensive
10
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
11
Hardware construction ( Machined Parts) Personal involvement: Rod Courtesy of: Custom Equipment (Greenville, SC)
12
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
13
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
14
Base construction Personal involvement: Rob Design Goals Stabilization Zero impedance of flywheel and link Safe for test phase
15
Base construction (Stabilization) Personal involvement: Rob Initial design Platform with extension C clamps Final Design Smaller Platform Incorporating interface wiring
16
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
17
Base construction (Final design) Personal involvement: Rob
18
Programming (Control) Personal involvement: Quy Swing up control Balancing control
19
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
20
Programming (Balancing Control) Personal involvement: Quy PID (Proportional, Integral, & Derivative) PD (Proportional & Derivative) Simplest control for inverted pendulum
21
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
22
Current Progress One week behind schedule More time will have to be spent on programming to catch up to deadline
23
Future plans Prepare balancing system for Bonus Day Optimize program for Competition Day
Similar presentations
© 2025 SlidePlayer.com. Inc.
All rights reserved.