Post on 18-Dec-2015
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.
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
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.