Difference between revisions of "HANcoder/Training Material/Highwaysurfer"
Line 428: | Line 428: | ||
===Installation=== | ===Installation=== | ||
− | Different electric schemes for each of the components are being used in this chapter. The main scheme can be found above. For clarification, some pictures are mirrored to make them correspond with the pictures from the back side. If a part is marked with red it’s not involved in the electric scheme. (Full Electric scheme) | + | Different electric schemes for each of the components are being used in this chapter. The main scheme can be found above.<br> |
+ | For clarification, some pictures are mirrored to make them correspond with the pictures from the back side.<br> | ||
+ | If a part is marked with red it’s not involved in the electric scheme. (Full Electric scheme) | ||
====The ground and source==== | ====The ground and source==== | ||
− | Every electric circuit starts with a ground and a source. So, it would only be logical to start connecting this circuit first. To connect all the ground and source wires we are using a star point. A start point is used to prevent ground loops in the system. Only a few ground wires from the filters are being connected before the ground star. This is because the electricity through these wires is so small that the chances of ground loops here are slim. | + | Every electric circuit starts with a ground and a source. So, it would only be logical to start connecting this circuit first.<br> |
+ | To connect all the ground and source wires we are using a star point. <br> | ||
+ | A start point is used to prevent ground loops in the system. <br> | ||
+ | Only a few ground wires from the filters are being connected before the ground star. <br> | ||
+ | This is because the electricity through these wires is so small that the chances of ground loops here are slim.<br> | ||
(Figure 8) | (Figure 8) | ||
− | The ground star has been made using a screw and bold what compresses multiple wires with spacers in-between. This way all the wires make contact if the screw is tightened enough. | + | The ground star has been made using a screw and bold what compresses multiple wires with spacers in-between.<br> |
+ | This way all the wires make contact if the screw is tightened enough. | ||
(Figure 9) | (Figure 9) | ||
− | As seen in the electric scheme in between the transformer and the ground stars there are a few extra components. The fuse, the Zener diodes and the switch. Before we go in depth with each of the components there is a simple version of how everything is connected according to the main electric scheme. | + | As seen in the electric scheme in between the transformer and the ground stars there are a few extra components.<br> |
+ | The fuse, the Zener diodes and the switch. <br> | ||
+ | Before we go in depth with each of the components there is a simple version of how everything is connected according to the main electric scheme. | ||
====The transformer==== | ====The transformer==== | ||
(Figure 10) | (Figure 10) | ||
− | To connect the transformer there are 5 wires what need to be connected. The first three wires are from the plug. Connect them according to the symbols on the transformer or according to the picture above. | + | To connect the transformer there are 5 wires what need to be connected. The first three wires are from the plug.<br> |
+ | Connect them according to the symbols on the transformer or according to the picture above. | ||
====The Zener-diode==== | ====The Zener-diode==== | ||
(Figure 11) | (Figure 11) | ||
− | Following the source wire from the transformer, the next component is the Zener diode. This diode is there to protect the system from voltage peaks. It’s switched parallel directly with the transformer. Because a PCB is being used, all the connections are made with screw blocks. Because there was no Zener diode of 18 V available 3 Zener diodes of 6.5V are linked in series. '''PART JORDY''' SI (source input) and GI (ground input) are directly from the transformer, while SO (source output) and GO (ground output) are connected to the rest of the circuit. | + | Following the source wire from the transformer, the next component is the Zener diode. This diode is there to protect the system from voltage peaks.<br> |
+ | It’s switched parallel directly with the transformer. Because a PCB is being used, all the connections are made with screw blocks.<br> | ||
+ | Because there was no Zener diode of 18 V available 3 Zener diodes of 6.5V are linked in series. <br> | ||
+ | '''PART JORDY''' SI (source input) and GI (ground input) are directly from the transformer,<br> | ||
+ | while SO (source output) and GO (ground output) are connected to the rest of the circuit. | ||
====The fuse==== | ====The fuse==== | ||
(Figure 12) | (Figure 12) | ||
− | The fuse is just a fuse switched in series. For our design, it’s connected to the ground. It’s placed on a PCB. Since it’s a two-way fuse it doesn’t matter which way it is connected. | + | 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. | ||
====The switch==== | ====The switch==== | ||
(figure 13) | (figure 13) | ||
− | The switch in the electric scheme is shown as a parallel on/off button with a coil and a relay in series. The on/off button and its electric coil are built into the component what is being used. That means the component can be switched in series like the relay. Just like the fuse it doesn’t matter which way it is connected. Make sure to note when the switch is on or off. | + | The switch in the electric scheme is shown as a parallel on/off button with a coil and a relay in series.<br> |
+ | The on/off button and its electric coil are built into the component what is being used.<br> | ||
+ | That means the component can be switched in series like the relay.<br> | ||
+ | Just like the fuse it doesn’t matter which way it is connected. Make sure to note when the switch is on or off. | ||
====The PCB==== | ====The PCB==== | ||
− | PCB’s (Printed Circuit Board) are used as screw blocks to connect the wires. Screw blocks are to connect or disconnect. Besides that, they are very cheap and easy to apply. To connect these blocks iron wire is used and soldered with tin. The screw blocks are white blocks in the electric system. | + | PCB’s (Printed Circuit Board) are used as screw blocks to connect the wires. Screw blocks are to connect or disconnect.<br> |
+ | Besides that, they are very cheap and easy to apply. To connect these blocks iron wire is used and soldered with tin.<br> | ||
+ | The screw blocks are white blocks in the electric system. | ||
====The high frequency filters==== (Figure 14) | ====The high frequency filters==== (Figure 14) | ||
− | All the long wires in our system function as antenna’s that are exposed to the EMI (Electromagnetic interferance)from the transformer. To filter these frequencies a combination of resistances and capacitors is used. Using a PCB for these resistors and capacitors is convenient. The values can be found in the main electric scheme. [IO] are the inputs from the ultrasonic sensors, [OU] is the output of the filters from the ultrasonic sensor, [-] is ground and [OC] with [IC] are the respective input and output from the chip that is connected to the micro-controller. | + | All the long wires in our system function as antenna’s that are exposed to the EMI (Electromagnetic interferance)from the transformer.<br> |
+ | To filter these frequencies a combination of resistances and capacitors is used. Using a PCB for these resistors and capacitors is convenient. <br> | ||
+ | The values can be found in the main electric scheme. [IO] are the inputs from the ultrasonic sensors, <br> | ||
+ | [OU] is the output of the filters from the ultrasonic sensor, <br> | ||
+ | [-] is ground and [OC] with [IC] are the respective input and output from the chip that is connected to the micro-controller. | ||
====The low voltage circuit==== | ====The low voltage circuit==== |
Revision as of 14:32, 7 June 2017
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
In the Appendix, a detailed order list has been attached. However, a simple list is added in each subchapter to tender to specific parts.
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 [KO]
- Resistor 1 [KO]
- Capacitor 0.33 [µF]
- Capacitor 4,7 [µF]
- Capacitor 22 [µF]
- Zener diode 18 [V]
- Wall socket (220 ~ 230 [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 this DEMO a LaserPro X500 was used which can be seen in figure 1.
The Solid Works drawings of all the wooden parts are send to a device that runs 'Corel Draw X8' which can be seen in figure 2.
The process can be seen in Figure 3. We chose this option to get a cleaner finish. Of course, there are other ways to get the panels to the right dimensions.
L-profile’s and drilling
The following L-profiles need to be cut- 2x540mm 5 holes per plane
- 4x100mm 2 holes per plane
- 2x460mm 3 holes per plane
- 10x50mm 2 holes per plane
Some holes need to be drilled in the L-profiles to match the bolts, for this DEMO 5mm. Be aware that the holes in the two planes are not on top of each other, see figure 4.
Assembling
Place the plates with the L-profile against each other and mark the holes.
Do not forget witch L-profile you use, every profile is slightly different even with the best measurements.
Continue by drilling the marked holes in the wood and assemble the parts with bolts and nuts. Start from the bottom and work all the way up.