Difference between revisions of "HANcoder/Training Material/Highwaysurfer"
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===Software=== | ===Software=== | ||
− | :* [https://nl.mathworks.com/products/simulink.html MatLab | + | :* [https://nl.mathworks.com/products/simulink.html MatLab Simulink®] |
:* HANcoder | :* HANcoder | ||
:* HANtune | :* HANtune | ||
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− | '''F''' = ''frequency'' <br> '''F''' = 1 / t <br> '''F''' = 1 / 0,06 <br> '''F''' = 16,667 [Hz] | + | '''F''' = ''frequency'' <br> '''F''' = 1 / t <br> '''F''' = 1 / 0,06 <br> '''F''' = 16,667 [Hz] <br> |
+ | |||
+ | '''x''' = ''Filterfactor'' = 50<br> | ||
'''F<sub>c</sub>''' = F * x <br> '''F<sub>c</sub>''' = 16,667 * 50 <br> '''F<sub>c</sub>''' = 833 [Hz] | '''F<sub>c</sub>''' = F * x <br> '''F<sub>c</sub>''' = 16,667 * 50 <br> '''F<sub>c</sub>''' = 833 [Hz] | ||
− | '''F<sub>c</sub>''' = 1 / (2π * R * C) <br> '''C''' = 1 / (2π * R * F<sub>c</sub>) <br> '''C''' = 1 / (2π * 10000 * 833) = 19 | + | '''F<sub>c</sub>''' = 1 / (2π * R * C) <br> '''C''' = 1 / (2π * R * F<sub>c</sub>) <br> '''C''' = 1 / (2π * 10000 * 833) = 19,1 [nF] |
====VR sensor and DNF10 chip==== | ====VR sensor and DNF10 chip==== | ||
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'''N''' = 70 [min-1] = 70/60 = 1,16667 [sec-1] <br> | '''N''' = 70 [min-1] = 70/60 = 1,16667 [sec-1] <br> | ||
− | '''Z''' = 44 <br> '''F''' = N * Z = 1,166667 * 44 = 51,333 [Hz] <br> '''F<sub>max</sub>''' = F * A= 51,333 * 1,5 = 76,9999 [Hz] <br> | + | '''Z''' = 44 <br> |
+ | '''F''' = N * Z = 1,166667 * 44 = 51,333 [Hz] <br> '''F<sub>max</sub>''' = F * A= 51,333 * 1,5 = 76,9999 [Hz] <br> | ||
'''F<sub>c <sub>filter</sub> </sub>''' = F<sub>max</sub> * x = 76,9999 * 50 = 2,85 [KHz] | '''F<sub>c <sub>filter</sub> </sub>''' = F<sub>max</sub> * x = 76,9999 * 50 = 2,85 [KHz] | ||
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====Potentiometer==== | ====Potentiometer==== | ||
+ | [[file:Potentiometer.png|200x200px|right|Click to enlarge image]] | ||
The potentiometer is connected to the microcontroller and is powered by the 5V chip. It is also filtered. <br> | The potentiometer is connected to the microcontroller and is powered by the 5V chip. It is also filtered. <br> | ||
Like all the other filters the resistance is 10 kΩ. To get the filter frequency F<sub>c</sub> from the potentiometer a frequency of 30 Hz is used. <br> | Like all the other filters the resistance is 10 kΩ. To get the filter frequency F<sub>c</sub> from the potentiometer a frequency of 30 Hz is used. <br> | ||
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'''F<sub>c</sub>''' = F * x = 76,9999 * 50 = 1500 [Hz]<br> | '''F<sub>c</sub>''' = F * x = 76,9999 * 50 = 1500 [Hz]<br> | ||
'''F<sub>c</sub>''' = 1 / 2π * R * C <br> | '''F<sub>c</sub>''' = 1 / 2π * R * C <br> | ||
− | '''C''' = 1 / 2π * R * F<sub>c</sub> = 1 / (2π * 10000 * 1500) = 10 | + | '''C''' = 1 / 2π * R * F<sub>c</sub> = 1 / (2π * 10000 * 1500) = 10,6 [nF] <br> |
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====The transformer==== | ====The transformer==== | ||
[[file:Transformer.png|200x250px|right|Click to enlarge image]] | [[file:Transformer.png|200x250px|right|Click to enlarge image]] | ||
− | To connect the transformer there are 5 wires that need to be connected. The first three wires are from the | + | To connect the transformer there are 5 wires that need to be connected. The first three wires are from the powerplug.<br> |
− | Connect them according to the symbols on the transformer or according to the picture | + | Connect them according to the symbols on the transformer or according to the picture on the right. |
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====The fuse==== | ====The fuse==== | ||
− | |||
The fuse is just a fuse switched in series. For our design, it’s connected to the ground.<br> | The fuse is just a fuse switched in series. For our design, it’s connected to the ground.<br> | ||
It’s placed on a PCB. Since it’s a two-way fuse it doesn’t matter which way it is connected. | It’s placed on a PCB. Since it’s a two-way fuse it doesn’t matter which way it is connected. |
Latest revision as of 14:18, 31 May 2018
General overview
A car runs on a conveyor belt and can run on three different lanes.
When an obstacle is detected in the path of the car,
the car will switch a lane to avoid a collision.
It is possible to block all three lanes, but then the car will stop.
This demo is built up from different subsystems.
The mechanical, the electrical and the software.
All these systems are also divided into the sub-components.
Mechanical:
The construction of the total demo assembly is divided in 3 separate sub-assembly’s:
the housing components, the lane change mechanism and the conveyer belt.
Electrical:
The electrical components are connected by soldering and screw terminals.
The power supply from the wall socket goes directly into the transformer
that generates the correct power supply for the components such as the H-bridge
that controls the conveyer belt motor, the microcontroller,
stepper-motor and the ultrasonic sensors.
Software:
The software is also divided into 3 separate systems: the input, algorithm and output.
The input gives the values that the algorithm need to create the output.
The algorithm decides what happens with the belt. When there is an obstacle the car will switch lanes,
if all 3 lanes are blocked the belt will stop.
Introduction
The HAN-AR have two model based development tools, HANcoder and HANtune, that they would like to promote. In order to do this a new demonstration model was required.
This is what the project team Highway Surfer has created.
The model will showcase the abilities of the tools and will act as an eye catcher at tech fairs and conferences that the HAN-AR attends.
With the help of this document people who are interested in recreating this project or start their own projects will be able to see what the steps involved are,
the materials required and the capabilities of the tools, HANcoder and HANtune.
This project was started with the help a template. This template can be downloaded from the following link:
On this wikipage, you can find the building process for the mechanical parts, the wiring and other processes for the electronics and the logic for building the software algorithm.
To make it easy for the consumer, we have an easy to understand order list with relevant links.
Materials Required
Hardware parts
Local hardware store:
- 5.5 [mm] multiplex
- Aluminum L-profile 20X20 [mm]
- Bolts, nuts
- PVC tube (80mm diameter x 1m length)
- Grip material for the PVC tubes
- Conveyor belt
- Axes
- End pieces’ roll (wood)
Online webshop:
- Bearings
- Gears/pullies and belts, for the drivetrain and lane change mechanism:
Electrical
Online webshop:
- Olimexino STM-32 board
- Stepper motor-driver
- Ardumoto - Motor Driver Shield
- Transformer
- Transistor 7805
- Female power connector for Olimexino
- 6x Screw terminal block 1.50 [mm²]
- Mini fuse 2 [A]
- Mini fuse 5 [A]
- Resistor 10 [KΩ]
- Resistor 1 [KΩ]
- Capacitor 0.33 [nF]
- Capacitor 4,7 [nF]
- Capacitor 22 [nF]
- Zener diode 18 [V]
Sensors
Actuators
Software
- MatLab Simulink®
- HANcoder
- HANtune
HANcoder and HANtune are available at OpenMBD. (On the website is a download manual for all the software.)
Mechanical
For the mechanical design the dimensions can be found in the CAD 2D drawings, which can be downloaded from the website [link here]. When all the parts are cut, they can be assembled. In the exploded views in this document the exact order of assembly is explained.
Conveyor belt base
Housing
To build the housing of the conveyor belt you need following items:
- 3x multiplex plates of 1220x610mm with a thickness of 5,5 [mm].
- Blueprints of the individual panels for the dimensions.
- Saw or something to cut the wood.
- Bolts(m5)
- L-profile(3000x20x20 [mm])
- Measuring tape
- Wood drill
Cutting
To get the right dimensions for the wooden this DEMO a LaserPro X500 was used.
The Solid Works drawings of all the wooden parts are send to a device that runs 'Corel Draw X8'.
The process can be seen in the pictures below. We chose this option to get a cleaner finish. Of course, there are other ways to get the panels to the right dimensions.