Solar Oven SPSU University Research Part 2

8/13/2019 Solar Oven SPSU University Research Part 2

1/41

1

Solar Cooker with Sun Tracking

Final Report

METRE 4400

Group:

James Alexander

Samantha Chan

Jeffery Kornder

Dr. Chan Ham

12/3/2012


2/41

2

Abstract:

The objective of this project is to develop and construct a solar cooker of our own design.

The cooker focuses the suns solar radiation, called insolation, onto a cooking pot via areflective parabolic dish, cooking the food within the pot. Power for motion and monitoring willcome from solar panels fixed to the frame, so the solar cooker is entirely self-sustained andable to operate without human interaction. Solar cookers have been around for centuries,

and a parabolic dish is the most powerful form. By tracking the sun to keep constant focus wewill use the optimum setup, and develop solar tracking components that have uses in a widevariety of other applications. In doing so we have gained greater insight into the engineeringdesign process and project management from start to finish.


3/41

3

Table of Contents, List of Figures, and List of Tables:Page4 1. Introduction (Sam)4 1.1 Project Overview: related technologies & applications (Sam, James)5 1.2 Major Objectives & Developments (main focus of the project) (James)

5 1.3 Team chart & major responsibility(Sam)5 2. System Requirements & Specifications(Jeff)5 2.1 Technical Requirements & Specifications (Jeff, Sam)9 2.2 Functional Features (Jeff)9 2.3 Minimum Success CriteriaJames)10 2.4 Design Verification Plan (Sam)10 3. System Overview(Sam)11 3.1 Configuration: block diagram & description (Jeff, James)13 3.2 Major Subsystem & Components(James)13 3.3 Trade Study for Major Parts (Sam, James)15 4. Prototype Development (James, Jeff)16 4.1 Introduction of Major Works (James)17 4.2 Hardware: drawings & circuit diagrams (major or system level) (Jeff)19 4.3 Software (Sam)20 4.4 Budget & Project Schedule: bill of materials and Gantt chart (Jeff)27 4.5 Analysis and Test Results: including discussion about results(James)27 5 Conclusions27 5.1 Achievements and Lessons Learned (James)27 5.2 Future Improvements and Design Optimization (Jeff, Sam)29 References (Sam)29 Appendix (Jeff)

6 Fig 1: Front view of parabolic dish11 Fig 2: Final Cooker Design12 Fig 3: Block Diagram of overall System13 Fig 4: Comparison of Paint to Mylar strips15 Fig 5: construction of initial prototype dish16 Fig 6: Construction of final prototype dish17 Fig 7:Gimbal and spine17 Fig 8:The A-frame18 Fig 9: Linear Actuator18 Fig 10:Prototype frame in steel19 Fig 11:Wiring and circuit diagram of overall system

5 Table 1: Team Chart and Task Responsibility10 Table 2: Design Verification Chart14 Table 3: Pughs Method Trade Study for reflective material14 Table 4: Pughs Method Trade Study for light sensors20 Table 5: Bill of Materials27 Table 6: Test Results from Prototype dish


4/41

4

1. Introduction

1.1 Project Overview: introduction, related technologies & applications

We have elected to design and build a relatively advanced parabolic solar cooker.There are many types of solar cookers, but the vast majority of them in current use are fairly

cheap, low-technology devices, such as: Box Cooker:A box cooker consist of a transparent glass or plastic top, which

may have additional reflectors to concentrate sunlight into the box. The top isusually removable to allow dark pots containing food to be placed inside. One ormore reflectors of shiny metal or foil-lined material may be positioned to bounceextra light into the interior of the oven chamber. Cooking containers and theinside bottom of the cooker should be dark-colored or black, while the insidewalls should be reflective to reduce radiate heat loss and bounce the lighttowards the pots and the dark bottom, which is in contact with the pots. The boxshould have insulated sides.

Panel Cooker:Panel solar cookers use reflective panels to direct sunlight to a

cooking pot that is enclosed in a clear plastic bag. It can be produced by pastinga reflective material, such as aluminum foil, onto a cut and folded backing,usually corrugated cardboard. It is lightweight and folds for storage.

Solar Kettles: Thesolar kettle-thermos flaskis a solar thermal design that usesan evacuated solar glass tube (solar vacuum glass tube) constructed fromborosilicate glass to capture and store energy from the sun. The tube consists ofan inner glass layer characterized by a dark exterior that heats up in sunlight,whereas the outer glass layer is transparent allowing sunshine to penetrate.This sunshine transports the solar infra-red energy and penetrates through thisouter layer and subsequently through the vacuum layer onto the inner layerwhere it is absorbed. The air is evacuated between these two layers with aconsequent insulating vacuum.

The difference between a classic solar cooker and a solar kettle is the latter runsoff the principle of accumulated rather than concentrated solar thermal energy.In essence these kettles only need diffused sunlight to work and needs no suntracking at all.

Hybrid Cooker:A hybrid solar oven is a solar box cooker equipped with aconventional electrical heating element for cloudy days or nighttime cooking. Itconsists of an adjustable parabolic reflector suspended in a tripod with amovable grill surface. When solar energy is not available, the design uses any

conventional fuel as a heat source, including gas, electricity, or wood. However,a hybrid cooker ends up being very expensive compared to other types of solarcookers.

Although various ideas for high-tech solar cookers have been proposed, such as theelectric oven powered by solar cells, very few of them have progressed past the experimentalstage to the point where they are used in practice, because they are generally much moreexpensive than low-tech cookers.
http://www.solarcooking.wikia.com/wiki/Solar_Kettle-Thermos_Flaskhttp://www.solarcooking.wikia.com/wiki/Solar_Kettle-Thermos_Flaskhttp://www.solarcooking.wikia.com/wiki/Solar_Kettle-Thermos_Flaskhttp://www.solarcooking.wikia.com/wiki/Solar_Kettle-Thermos_Flask


5/41

5

1.2 Major Objectives & Developments (main focus of the project)

The main focus of this project is to design and construct a system to focus the sun senergy with no other stimuli or inputs on a pot to the point that it is hot enough to cook food(boil water). In order to achieve this we must:

Design and construct frame using CAD Design and create gimbal to hold pot

Derive optimal equation for parabola

Determine best material and reflective coating for production

Devise a Solar tracking using light sensors

Use only solar energy converted by solar panel and stored by battery to achieve this

1.3 Team chart & major responsibility

Table 1: Team Chart and Task Responsibility

2. System Requirements & Specifications

2.1 Technical Requirements & Specifications

In order to create the reflective dish we had to generate an equation of the parabolathat would reflect rays into its center. The focal point of this parabola must also be nearlylevel with its height.


6/41

6

This equation yields the following parabolic dish:

Fig 1: Front view of parabolic dish

With the focal point just above the level to the edge of the dish we can have thecooking apparatus sit just inside the dish to absorb the maximum energy along the undersideof the pot rather than a small single point.

Additionally, we had to analyze the potential size of the dish. If the dish is too small, it

will not reflect enough energy into the pot to create sufficient heat.


7/41

7


8/41

8

Our calculation yielded a much smaller dish is needed if we can ensure a highefficiency. We elected to use a 50% efficiency to adjust for several factors that may affect theefficiency of the system.

cooker may be used on partly cloudy days

cooker may become dirty

the pot cannot retain all energy put into it

some light will inevitably be absorbed by the reflective material some light will, despite our best efforts, scatter

In a test we successfully boiled 1 Liter of water and using the data gathered, found theenergy output of our prototype dish using the size and shape we calculated.

Subtracting the area blocked by the pot and supports we had a area of effectiveness of0.747sqm. This correlates to 404.1 available watts based on the earlier calculations.

Finally, we had to calculate the torque needed for the motor to turn a dish of this sizeand track the sun. The following equations show the maximum predicted torque:


9/41

9

In addition to the calculated torque, we know that the bearings holding the pot will add

some additional friction force that will increase the maximum torque. To offset this, weplanned to place the solar panel and as much of the control system as possible on theopposite side of the central axis of the bearings. This would subtract from the moment of thedish as it turns and decrease the torque from weight. Ultimately however, this provedunnecessary.

Our final motor is a CHM-2401-1M with an output of 50 In-lb. This is equivalent to 5.65N-m.Based on the torque calculations we will be using a 3:1 gear ratio on our motor pulley in orderto achieve the maximum torque plus a 50% factor of safety.

2.2 Functional Features

The functional features of the dish are related to the solar tracking systems. Usingthree chip style light sensors to track the suns movement in the sky and trigger the motor torotate the dish when needed

2.3 Minimum Success Criteria

The final system should be comparable in size and maneuverability to a typicalbackyard grill. 60 x 50

Disassembled, it must be packable to allow for shipping ( sum of dimensions less than

165) Able to cook unwatched until completion

Able to withstand typical outdoor conditions ( 40-100 Degree Fahrenheit, sun, rain,wind, etc)

Support up to 10 lb in gimbal (pot + food)

Disassembled, able to fit in box whose sum of dimensions is no greater than 165 (thisis the maximum allowed size for shipping)


10/41

10

2.4 Design Verification Plan

Each part of the design was verified independently by analysis, testing, and simulation.The following table shows how we verified.

Items Analysis Simulation Test

Motor x x x

Aluminum Foil x x

Chrome Spray Paint x

White Fiber Glass x

Adhesive Mylar x x

Frame Strength x x

Program Code x x

Table 2: Design Verification Chart

Test:All reflective practical materials will be tested on a prototype dish. The motor andArduino code were tested independently at first to ease potential troubleshooting.

Simulation:The motor and code will both be simulated in MATlab. Final frame designwill be put through Finite Element Analysis (FEA).

Analysis:All components will be analyzed individually to ensure proper function andthat all desired criteria is met.

3. System Overview

Design and construct a reflective parabolic dish capable of cooking a meal and tracking thesun across the sky without any external stimuli.


11/41

11

3.1 Configuration: block diagram & description

Fig 2: Final Cooker Design

The parabolic dish shape is effective only when pointing directly at the sun, which hasa well known tendency to move across the sky at a constant rate. For this reason the designis solar tracking, meaning it will follow the suns trajectory across the sky. Tracking the sun willallow the cooker to cook as hot as possible for as long as possible.


12/41

12

In order to move of its own volition, the cooker must have a source of power. Since itwill already be tracking the sun the addition of a solar panel also tracking the sun to generateDC power is obvious. If the system is well balanced the power demand will be minimal andnot constant, only needed to move the dish, not hold its place.

The sun will be tracked east to west by two light sensors placed next to each other, oneeast and one west, bisected with a single blade raised toward the sun. As the sun moves

across the sky the bladesshadow will fall on one of the sensors. This difference between thesensors shall be compared by the Arduino which will control the motor to rotate the dish untilthe two sensors are receiving equal sunlight. There is a third sensor and another blade toadjust North/South tilt, but this will only be checked once at the start of cooking since thesuns path will not change longitudinally. With this method the blades height can be altered toadjust the systems sensitivity. The taller the blade the more the sun s movement will beexaggerated and the quicker the shadow will move to cover/uncover a sensor.

Fig 3: Block Diagram of overall System

Light

SensorsArduino

Temperature

Sensors

MotorsSolar

Collector

Solar

PanelBattery


13/41

13

3.2 Major Subsystem & Components

Structure:The primary feature of the structure component will be a frame designed by us in CADto hold and support all other components in their proper place.The gimbal to hold the pot level inside the rotating dish is a smaller substructure that

will be a part of the final frame.

Dish:The key aspect of the dish construction was to find the optimal equation for a parabola,and from that curve determine the best material and reflective coating for a productionmodel.

Control System:The chief goal of the control system is powered solar tracking using light sensors anda motor with linear actuator for North/South tilt

Power System:The power for the controls will be stored in a 12V battery charged from a solar panelalso tracking the sun.

3.3 Trade Study for Major Parts

Dish material:Several materials were considered for the dish materiel. Polished stainless steel and

aluminum are much too expensive and shaping them into the parabola is beyond any of ourabilities. Mirrors would be impossible to shape into a perfect parabola and would just seemlike an inside out disco ball. Fiberglass was chosen due to its price and relative ease ofshaping. The reflective materials will need be coated on separately.

Fig.4 Comparison of paint to Mylar strips on final dish


14/41

14

Reflective material: Weighted Pughs method

WhiteCoat

Aluminum

ChromeSprayPaint

Mylar

Criteria Importance

Weight(%)

Rating WeightedRating



Rating WeighteRating

reflectivity 30 0 0 3 0.9 3 0.9 4 1.2

cost 25 3 1.3 3 0.75 3 0.75 3 0.75

uniformity 45 1 0.45 1 0.45 4 1.8 4 1.8

Total NA 1.75 NA 2.1 NA 3.45 NA 3.75

Table 3: Pughs Method Trade Study for reflective material

Drive type:To transfer the motors motion into dish rotation chord, v-belt, and timer pulleys as well asgears were considered. Ultimately v-belt was selected due to being cheapest and since someslipping is permissible with no encoders being used.

Sensor Type

SMD Through-Hole

Chip

Criteria ImportanceWeight (%)




low powerdissipation

25 1 0.3 1 0.3 4 1.5

highoperating

temperature

35 3 1 3 1 3 1.2

highphotocurre

nt

30 4 1.2 4 1.2 1 0.3

low cost 10 2 0.8 4 1.3 2 0.8

100 NA 3.3 NA 3.8 NA 3.8

Table 4: Pughs Method for Light Sensors


15/41

15

4. Prototype Development

Construction of the prototype dish began in early June 2012. The mold for the dish wascut out of Styrofoam insulation using a super-heated piece if NiChrome wire. After applyingand curing the fiberglass the original dish was used to test both for adequate size and variousreflective surfaces. Construction of the final prototype began October 20 th and was completed

November 10

th

.

Fig 5: Constructing the initial prototype dish


16/41

16

Fig 6: Constructing final prototype dish

4.1 Introduction of Major Works

Structure The frame is fully designed and laid out in SolidWorks CAD We have constructed a gimbal to keep the pot of food level to the ground

Dish The parabola equation for the dish has been calculated for optimal focal point Different materials have been tested for reflectivity and efficiency

Control System Light sensors will be used to keep the dish tracking on the sun Thermostat will be used to keep food from overheating

Power System The entire apparatus will be designed to run on solar energy


17/41

17

4.2 Hardware: drawings & circuit diagrams (major or system level)

Fig.7 Gimbal and spine

Fig.8 The A-frame


18/41

18

Fig. 9 Linear Actuator

Fig.10 Prototype frame in steel


19/41

19

Fig 11: Wiring and circuit Diagram of overall System

4.3 Software

SolidWorksMatLab

Arduino Environmen


20/41

20

4.4 Budget & Project Schedule: bill of materials and Gantt chart

Table 5: Bill of Materials

All items are provided by sponsor, Jebadiah Moulten of Atlanta Robotics. Some componentsare made by his company and therefore would not be full cost, and many parts can be usedfor multiple iterations.

Item Quantity Cost ($)

Bearings 4 20

DC motor 1 40Linear Actuator 1 10

1 Square 6061Al 84 27.25

.75 Square 6061 Al 70 15.5

.5 6061 Al rod 46 15

3/16 Pin 4 4

V-belt 16 5

1 dia Pulley 1 2

3 dia Pulley 1 2

Arduino Uno 1 30

H-bridge 1 45

Various color and size wires andconnectors

Apx 5' 5

Solar Panel 1 40

Photo sensitive Chip 3 7.5Resistors (various sizes) Apx 4 2

1/16 steel sheet metal 1x28.27 2.5

12V Battery 1 22

Fiberglass Resin 3 Gallon 60

Fiberglass Mat 24 sq. ft. 10

Fiberglass Weave 12 sq. ft. 20

5x Bolts 2 .25

Total Price 385


21/41

21

Gant Chart


22/41

22


23/41

23


24/41

24


25/41

25


26/41

26


27/41

27

4.5 Analysis and Test Results: including discussion about resultsTo

Water(C)

TfWater(C)

Tambient(C)

Time Material With Aluminum Foilpot Cover

29 30 30 18 min White Paint no

45 76 30 1 hour Aluminum Foil no

34.6 50.2 32 20 min Aluminum Foil no28 70 28 37 min Chrome Spray Paint no

32 86 28 45 min Chrome Spray Paint yes

30 101 22 1 hour Mylar Adhesive yes

39.8 98.5 25 26 min Mylar Adhesive yes

Table 6: Test Results from Prototype dish

Many of the tests were unable to go for a full hour without cloud cover. Howevercovering the pot combined with the better reflective materials was an effective enoughcombination that the full hour was not even necessary to achieve minimum success. Whether

this will still be the case in the dead of winter remains to be tested.

The efficiency is so low for a myriad of reasons many of which can be overcome in finalprototype. Factors such as the bubbles and creases in the Mylar and the imperfect nature ofour dish will not be factors in the final model. Factors like the pots inability to perfectly retainheat or the shiny glaze of the pot cannot be completely eliminated, but their impact oneefficiency can and will be reduced.

5 Conclusions

5.1 Achievements Lessons learnedThe importance of assembly consideration in design became obvious early on in the project.Any great design must also be buildable after all or it is just an idea. Also important isadherence to the schedule, and likewise setting an achievable schedule is crucial to asuccessful project. Crucial as well we learned is clearly assigned tasks that play to eachrespective members strengths, and communication to discern those roles.We learned how to document our project in an organized, technical and professional manner,for others to be able to know and understand the engineering processes used to achieve ourgoals. Most importantly, every aspect of the design can, and should be, supported by acalculation of some sort. If a tested result does not match calculations we should re-assessthe formula and variables used to understand

5.2 OptimizationsThe dish is more than capable in its current size of cooking even during the worst months ofthe year, so it would be practically overkill during ideal summer conditions. For this reason asmaller dish may be preferable. Just a six inch smaller diameter would make the entiresystem smaller, lighter, stiffer due to the lightness and shortened spine, more movable andpackable, and save on time and cost of materials while still meeting minimum cooking times.


28/41

28

The motor shaft could be shorter. This was a limit of available materials and will be rectified inany production version.

The adjustable leg, all things considered, should probably not be a powered feature. It caneasily be manually adjusted and since it only affects the latitude angle after initial setup neednot be altered again. Possibly not for days. This would simplify the system and decrease

weight as well as manufacturing costs.

Addition of temperature sensors: to better control the solar cooker we could add temperaturesensors (such as thermostats) on the pot and have a temperature gauge connected to themicro-controller so the user can input the temperature they desire, and based on it, have thesystem adjust accordingly.

An array of pot holder sizes, or even a universal pot holder would also be useful, and allow fora range of different sized pots and dishes to be utilized.

Similarly the square portion of the gimbal should be lengthened along the spine. This wouldallow for more clearance of taller pots and a wider range of motion for all dishes withoutsacrificing much additional sunlight.


29/41

29

References

Motor Dynamics. Linear Actuator 200mm Stroke 40 mm Speed 150N.http://www.motiondynamics.com.au/linear-actuators/series-3/linear-actuator-200mm-stroke-

40mm-speed-150n.html

Atlanta Robotics. Dual Hbridge Motor Drive.http://atlanta-robotics.com/Dual_Hbridge_Motor_Drive.php

Global Spec. CHMCHM-2401-1M.http://beta.globalspec.com/ds/2353/molon/51F2B879-7A15-42DC-A487-EAC9C637F7AC

One Block Off the Grid. Different Types of Solar Panels.http://howsolarworks.1bog.org/different-types-of-solar-panels/

Panasonic. Light Sensors.http://pewa.panasonic.com/components/built-in-sensors/light-sensors/napica/

Batteryhttp://www.batteriesplus.com/product/40571-WKA12--2-dot9F-Battery/100085-1/102629-SLA-Sealed-Lead-Acid-Batteries/102645-Werker/12V.aspx
http://www.motiondynamics.com.au/linear-actuators/series-3/linear-actuator-200mm-stroke-40mm-speed-150n.htmlhttp://www.motiondynamics.com.au/linear-actuators/series-3/linear-actuator-200mm-stroke-40mm-speed-150n.htmlhttp://www.motiondynamics.com.au/linear-actuators/series-3/linear-actuator-200mm-stroke-40mm-speed-150n.htmlhttp://atlanta-robotics.com/Dual_Hbridge_Motor_Drive.phphttp://atlanta-robotics.com/Dual_Hbridge_Motor_Drive.phphttp://beta.globalspec.com/ds/2353/molon/51F2B879-7A15-42DC-A487-EAC9C637F7AChttp://beta.globalspec.com/ds/2353/molon/51F2B879-7A15-42DC-A487-EAC9C637F7AChttp://howsolarworks.1bog.org/different-types-of-solar-panels/http://howsolarworks.1bog.org/different-types-of-solar-panels/http://pewa.panasonic.com/components/built-in-sensors/light-sensors/napica/http://pewa.panasonic.com/components/built-in-sensors/light-sensors/napica/http://pewa.panasonic.com/components/built-in-sensors/light-sensors/napica/http://pewa.panasonic.com/components/built-in-sensors/light-sensors/napica/http://www.batteriesplus.com/product/40571-WKA12--2-dot9F-Battery/100085-1/102629-SLA-Sealed-Lead-Acid-Batteries/102645-Werker/12V.aspxhttp://www.batteriesplus.com/product/40571-WKA12--2-dot9F-Battery/100085-1/102629-SLA-Sealed-Lead-Acid-Batteries/102645-Werker/12V.aspxhttp://www.batteriesplus.com/product/40571-WKA12--2-dot9F-Battery/100085-1/102629-SLA-Sealed-Lead-Acid-Batteries/102645-Werker/12V.aspxhttp://www.batteriesplus.com/product/40571-WKA12--2-dot9F-Battery/100085-1/102629-SLA-Sealed-Lead-Acid-Batteries/102645-Werker/12V.aspxhttp://www.batteriesplus.com/product/40571-WKA12--2-dot9F-Battery/100085-1/102629-SLA-Sealed-Lead-Acid-Batteries/102645-Werker/12V.aspxhttp://www.batteriesplus.com/product/40571-WKA12--2-dot9F-Battery/100085-1/102629-SLA-Sealed-Lead-Acid-Batteries/102645-Werker/12V.aspxhttp://pewa.panasonic.com/components/built-in-sensors/light-sensors/napica/http://pewa.panasonic.com/components/built-in-sensors/light-sensors/napica/http://howsolarworks.1bog.org/different-types-of-solar-panels/http://howsolarworks.1bog.org/different-types-of-solar-panels/http://beta.globalspec.com/ds/2353/molon/51F2B879-7A15-42DC-A487-EAC9C637F7AChttp://beta.globalspec.com/ds/2353/molon/51F2B879-7A15-42DC-A487-EAC9C637F7AChttp://atlanta-robotics.com/Dual_Hbridge_Motor_Drive.phphttp://atlanta-robotics.com/Dual_Hbridge_Motor_Drive.phphttp://www.motiondynamics.com.au/linear-actuators/series-3/linear-actuator-200mm-stroke-40mm-speed-150n.htmlhttp://www.motiondynamics.com.au/linear-actuators/series-3/linear-actuator-200mm-stroke-40mm-speed-150n.htmlhttp://www.motiondynamics.com.au/linear-actuators/series-3/linear-actuator-200mm-stroke-40mm-speed-150n.htmlhttp://www.motiondynamics.com.au/linear-actuators/series-3/linear-actuator-200mm-stroke-40mm-speed-150n.html


30/41

30

Appendix:

All drawings, circuit diagrams, program codes, major spec sheet

Motor Spec Sheet

Automotive Dual H Bridge DC Motor DriverPart number 120052This dual motor driver is based off of the ST Microelectronics VNH2SP30-E integrated H-bridge motor driver chip. The VNH2SP30TR-E chip from ST Microelectronics is designed forthe automotive industry and greatly used in 12 volt window motor control. 30 Amps max at 16Volts. This board give you access to all the capabilities the chip offers. Click here fordatasheet. The quick overview:

5V logic level compatible inputs

Undervoltage and overvoltage shut-down (5.5V-16V)

Overvoltage clamp

Thermal shut down

Cross-conduction protection

Linear current limiter

Very low stand-by power consumption

PWM operation up to 20 kHz

Protection against loss of ground and loss of VCC

Current sense output proportional to motor current

Reverse polarity hookup protection


31/41

31

Optional chip heatsink

Brake to ground or brake to VCC

Motor power supply is all that is required (


32/41

32

Weight: 4.1300 lbs Voltage: 12V Capacity: 2.9AH

Linear Actuator 40mm/sec 200mm Stroke 150

Specifications:

Speed: 40mm/SecondStroke: 200mmInput: 12VMax Current: 1.6ALoad capacity: 150N at rated load (Push/Pull)

Limit Switches: Internal (Not adjustable)Protection Class: IP65Duty Cycle: 10% (2 minutes on/18 Minutes off)Gearing: SteelCable Length: 70CMWeight: 1KG

High quality unit. Very smooth operation. Alloy frame, steel shaft.One of the strongest and most durable on the Australian Market.Uses Include: Furniture, Appliances, Automotive, Satellite, Solar etc

Download the PDF information page here!
http://www.motiondynamics.com.au/publ/linear_40mm_150n_200mm.pdfhttp://www.motiondynamics.com.au/publ/linear_40mm_150n_200mm.pdfhttp://www.motiondynamics.com.au/publ/linear_40mm_150n_200mm.pdf


33/41

33


34/41

34

Self-Lubricating Stamped Steel Base-Mounted Bronze BearingsMade of oil-impregnated bronze, these light-duty, low-cost bearings save you time byeliminating the need for routine maintenance. Use them for medium-speed, low-load applications. All include an oil cup (unless noted) for additional lubrication. Housing isstamped steel; bearing insert is SAE 841 bronze (Oilite), which is an alloy

ofcopper, tin, and carbon.

BearingMaterial

TemperatureRange P max V max PV max

SAE 841 -40 to +240 F 2,000 1,200 50,000

A=9/16'B=2 5/16''C=1 1/8'D=7/16"E=1 3/4"F= 17/64' 5/16"


35/41

35

Program Code

/* "Dual Hbridge Motor Driver"

www.Atlanta-Robotics.com

date: 8/19/11code by: Jebadiah Moulton based on Kirk Charles and Ben Axelrod's Centroid line following method

Feel free to use this code however you'd like.Please improve upon it! Let me know how you've made it better.

Some motor control snippets of code were based of the Sparkfun's Monster Moto Shield code

Use the motorGo(uint8_t motor, uint8_t direct, uint8_t pwm)function to get motors going in either CW, CCW, BRAKEVCC, or

BRAKEGND. Use motorOff(int motor) to turn a specific motor off.

The motor variable in each function should be either a 0 or a 1.pwm in the motorGo function should be a value between 0 and 255.

Depending on the speed and torque of your motors the code may need to be changed a little.If you uncomment the debug println statements, be sure to comment them out again as it will

drastically slow down your code and this will be a problem for fast robots.

This code was written for the "Dual Hbridge Motor Driver" and

"OctoIR Line Follower" sensor board at www.Atlanta-Robotics.com

*/

#define TIMER_CLOCK_FREQ 2000000.0 // 2MHz for /8 prescale from 16MHz

// Definitions for motorGo function#define BRAKEVCC 0

#define FWD 1

#define REV 2

#define BRAKEGND 3#define CS_THRESHOLD 100

/* VNH2SP30 pin definitionsxxx[0] controls '1' outputs

xxx[1] controls '2' outputs */

int INApin[2] = {3, 8}; // INA: Clockwise input

int INBpin[2] = {4, 9}; // INB: Counter-clockwise inputint DiagA[2] = {5, 10}; // Write high to enable. Can be read in for diagnostics

int DiagB[2] = {6, 11}; // Write high to enable. Can be read in for diagnostics

int PWMpin[2] = {7, 12}; // PWM input to motor driver

int ONBD_LED = 13; // onboard LED is on pin 13


36/41


37/41

37

***********************************************************************************

***

//-------------------------------------------------- Start Main code loop -----------------------------------------------------------------------------------------------

//*********************************************************************************

**************************************************************************************

//*********************************************************************************

**************************************************************************************

void loop()

{

int Light1 = analogRead(A0);



int Limit = analogRead(A3);

float voltage1= Light1 * (5.0 / 1023.0);

float voltage2= Light2 * (5.0 / 1023.0);float voltage3= Light3 * (5.0 / 1023.0);

float limitVoltage = Limit * (5.0/1023);

while((((voltage3 - voltage2) > 1) || ((voltage2 - voltage3) > 1)) && (limitVoltage < 3))

// Set Jack Leg to sun angle using light sensors{

if((voltage2 - voltage3) >1)

{motorGo(LEG, FWD, 125);

}

else if((voltage3 - voltage2) > 1){

motorGo(LEG, REV, 125);

}}

while(1) // Loop main sun tracking program

{


int Light2 = analogRead(A1);int Light3 = analogRead(A2);

int Temp = analogRead(A3);




38/41

38


float Tempv= Temp * (5.0 / 1023.0);

Serial.println("L1"); Serial.println(voltage1);



delay(5000); // Run Loop every 5 seconds

while((voltage1 - voltage2) > 1)

{

Serial.println("L1"); Serial.println(voltage1);Serial.println("L2"); Serial.println(voltage2);

Light1 = analogRead(A0);


voltage1= Light1 * (5.0 / 1023.0);

voltage2= Light2 * (5.0 / 1023.0);

motorGo(DISH, FWD, 255); // motor fwd. 0-255 is the range}

while((voltage2 - voltage1) > 1){





voltage1= Light1 * (5.0 / 1023.0);

voltage2= Light2 * (5.0 / 1023.0);

motorGo(DISH, REV, 255);

}

motorOff(DISH);

}

//Debugging Code

/*

while(1)


39/41

39

{


int Light2 = analogRead(A1);float voltage1= Light1 * (5.0 / 1023.0);


Serial.println(voltage1);

if((voltage1 - voltage2) > 1)

{motorGo(LEG, FWD, 255);

motorGo(DISH, FWD, 255);

delay(1000);

}

else

{

motorGo(LEG, REV, 255);motorGo(DISH, REV, 255);

delay(1000);

}

motorGo(LEG, FWD, 255); // motor fwd at 50 pwm. 0-255 is the range

motorGo(DISH, FWD, 255); // motor fwd at 50 pwm. 0-255 is the range

delay(1000);

motorGo(LEG, REV, 255); // Right motor full speed FWDmotorGo(DISH, REV, 255);

delay(1000);

*/

//End Debugging Code

}

//*********************************************************************************

**************************************************************************************

//*********************************************************************************

***********************************************************************************

***//-------------------------------------------------- end of main loop ---- functions here ---------------------------

---------------------------------------------------

//********************************************************************************************************************************************************************

***

//*********************************************************************************

***********************************************************************************


40/41

40

***

void motorOff(int motor) //Brake Function{

// Initialize braking of motor

for (int i=0; i


41/41

}

else // Else REV or BRAKEGND, Reset inBpin[motor]{

digitalWrite(INBpin[motor], LOW);

//Serial.print("fwd LOW ");}

if (direct >= 2) // If REV or BRAKEGND Set inApin[motor]{

/*if (motor = 1)

Serial.print("stbd ");

elseSerial.print("port ");*/

digitalWrite(INApin[motor], HIGH);

//Serial.print("rev HIGH ");

}

else // Else FWD or BRAKEVCC, Reset inApin[motor]

{digitalWrite(INApin[motor], LOW);

//Serial.print("rev LOW ");

}

analogWrite(PWMpin[motor], pwm);

//Serial.println(pwm, DEC);}

}

}

Solar Oven SPSU University Research Part 2

Documents

Transcript of Solar Oven SPSU University Research Part 2