Mover Project

Group E

April 21, 2003

Introduction

Objective was to build a two-degree of freedom device, with an upside down cup attachment, for moving a small ball through an obstacle course.

Outline

Goal and Specifications Project Course and Outcome Performance What was learned Conclusion

Goal and Specifications

Goal To achieve successful navigation of the obstacle course at

high speed while maintaining all of the system requirements at minimal costs

Specifications The device must touch the obstacle course only with the cup The ball and the maze will be provided. Motors are to be used to provide device with motion. The ball must stay on the track No assistance after start No purchased control system

Project Course

LT.

Target Target Actual

4 11 18 25 01 08 15 22 01 08 15 22 29 05 12 19 26

1 Research Mover 2/1 2/8 2/82 Order & Receive Parts 2/22 3/1 2/263 Machine Frame 2/22 2/284 Connectors and Cables 3/1 2/285 Research on Qmotor 3/8 3/15 3/16 Motor Control Code 3/8 3/87 Assemble Mechanical System 3/15 3/8 3/68 Qmotor Control 3/29 4/5 4/59 Achieve Movement 3/15 3/2910 Achieve Controlled Movement 3/29 4/12 4/1411 Web Page Design 4/19 4/21 4/21

Mover Project Critical Path

Jan Feb March AprilITEMComplete

Movement Control Design

Project CourseProblem: Original design created a large

momentSolution: Changed design from rail system to

ball bearing track system

Problem: Mover would moveSolution 1: Clamp mover to tableSolution 2: Apply dead weight to table

Project Course

Problem: Encoder pulse rise time too slow

Solution: Determined that it would not effect system

Problem: Encoder missing pulses

Solution: Replace worn encoder wheel

Project Course

Problem: Program crashed at any attempt to change direction

Solution: Altered program to accommodate all movement within a single call of the control function

Problem: Mover would overshoot desired point

Solution: Eliminated “printf” statements to free system memory

Project Course

Obstacles Overcome Mastering new software to attain goal Mechanical design limitations Encoder failure

Accomplishments Controlled navigation achieved by Bonus Day Fastest time recorded on Competition Day

Project Outcome

Things that worked well for us Motors and Pulleys High resolution of

encoders Sampling Rate of

1000Hz

Things that held us back Inertia Response time of

computer

What was learned

Qmotor software Practical application of

control theory Time management Allegation of personal

resources Web design

Conclusion

Successful navigation of the obstacle course at high speed while maintaining all of the system requirements was accomplished.

Are there any questions?