My minor project
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Transcript of My minor project
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Minor project
OIST Electronics & Communication
Group members:Aamir HussainAbhikalp GuptaAlind TrivediAnuj KoshtiBhrigu Raj Sharma
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Prime Focus-
• Electronic components and circuitry involved• Mechanical aspect• Programming part
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Electronic components
Atmega32 microcontrollerCrystal oscillator Resistors capacitorsDiode Drum switches H-bridge
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Atmega32 Microcontroller
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Key features…
• 8-bit Microcontroller• Up to 1 MIPS Throughput at 16MHz• On-chip Analog Comparator• Operating Voltages
- 4.5-5.5V for ATmega32• Speed Grades
- 0-16 MHz for ATmega32
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Utility
• It is being used to operate the two motors• Led’s • The required programming is loaded in the
flash memory, according to which the movement is controlled
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Crystal oscillator
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Utility
• Operates from 0 to 16 mhz.• Provides the operating frequency for
operation of microcontroller
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H-bridge
•Enables a voltage to be applied across a load in either direction.
•These circuits are often used in robotics and other applications to allow DC motors to run forwards and backwards.
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H-bridge utility
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How H-Bridge works
Off Forward Reverse
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S1 S2 S3 S4 Result
1 0 0 1Motor
moves right
0 1 1 0Motor
moves left
0 1 0 1Motor brakes
1 0 1 0Motor brakes
The following table summarizes operation, with S1-S4 corresponding to the diagram above.
ACTION OF MOTOR
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Others…
• Resistors- for control of current flow• Capacitors- for uninterrupted voltage• FET- for voltage control • Switches • Diodes
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Actuators
•Actuators are mechanical devices which converts energy into motion•The energy can be hydraulic, pneumatic or electric.•In order to avoid the complexity we have chosen dc motor as actuator.
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Parameters for selecting a motor
• Revolution per minute of shaft (rpm)• Velocity of wheel• Torque• Power• Voltage• Current
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RPM of Motor
• rpm of motor is defined as speed of the shaft without any load
• The rpm depends on the load
• The rpm is inversely proportional to torque.
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Velocity• It is the rotating speed
of the wheel • Depends on the rpm &
radius of the wheel.V =2*∏*r*ω
• For a constant wheel radius, rpm can be used to control the velocity.
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Torque
• Torque α (1 / rotational speed or rpm)
• On increasing the torque rpm will decrease & vice versa
• Having a small load on robot we choose a motor having less torque & more speed
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Power• Motor Power = Torque *
rpm• Required power = Force *
velocity• Required power will
depends on – mass of robot – radius of wheel
• To drive robot efficiently:-Motor power > Required
power
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Voltage
• DC motors are non polarized i.e. on reversing the polarity the direction of rotation of wheel changes.
• Torque is directly proportional to applied voltage.
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Current• The operating current is the
average current drawn by the motor which is required to drive the robot.
• To turn the wheel clockwise or anticlockwise, the direction of current is reversed which is done through H-bridge.
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Selection of motor• With all parameters including rpm, velocity, torque,
power, current and voltage required to drive the motor efficiently a geared dc motor of following specifications is selected:
• 100RPM 9V DC with Gearbox• 6mm shaft diameter with internal hole• 125gm weight• 1.2kgcm torque• No-load current = 60 mA(Max), Load current = 300
mA(Max)
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What is Differential drive?•The differential drive is a two-wheeled drive system.
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• The drive wheels are usually placed on each side of the robot and toward the front
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Non driven wheel (metal ball)
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Pros:
• Simplicity • Effective for plane surfaces• Cost Effective• Power Efficient
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Programming ……………..
For programming software used:oWin AVRoAVR studio 4oPL2303 USB driveroUSB programmer
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Why AVR studio 4…………?
AVR Studio 4 includes a debugger that supports
• run control • source and instruction-
level stepping • Registers • I/O views • target configuration and
management
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Standard program This program is made on AVR STUDIO 4 in the high level language (user
friendly language) which includes libraries for the compiling and designing of program.
#include <avr/io.h> int main() { Step 1 Set pin2 (PD0) and pin3 (PD1) as output pin; Step 2 Set pin15 (PB1) as output pin; Step 3 Send 0 at PD0 and 1 at PD1; Step 4 Send 1 at PB1; While(1) { //do any job here}Return 0;}
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Sample program• This program is for the forward movement of this
programmable moving robot. #include<avr/io.h> #include<util/delay.h> #include<compat/deprecated.h> int main() { DDRC=0b11111111;//data direction register c is initialised by binary value while(1) { sbi(PORTC,1); //sets a bit of portc of ATMEGA32 sbi(PORTC,2); //sets a bit of portc of ATMEGA32 } return(0); }
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Thank you
All the glory in the world can be achieved by only……………………….
……………………………beginning…..