perfomance of servo motor control system for a mini ... · servo motor is dc motor which consist of...

International Journal of Engineering & Industry ISSN: 2191-3315, Volume 2, Issue 1, page 8 - 16

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Zambrut.com. Publication date, March 25, 2019.

Aung, W. P., Win, H. K. & Aung, T. T. 2019. Perfomance of Servo Motor Control System ..................... 8

Perfomance of Servo Motor

Control System for a Mini

Vending Machine

Wai Phyo Aung1, Htut Ko Win

2 & Than Toe Aung

3

1Prof. Dr. Wai Phyo Aung,

2Htut Ko Win &

3Than Toe Aung

1Department of Electronic Engineering, TU (Loikaw)

2,3B.E (EC)-2018,TU (Loikaw)

Loikaw, Kayah State, Myanmar

1. INTRODUCTION

1.1 Introduction to Servo Motors

The high-torque standard servo can rotate approximately 120 degrees (60 in each direction).

User can use any servo code, hardware or library to control these servos, so it’s great for beginners who

want to make stuff move without building a motor controller with feedback & gear box, especially

since it will fit in small places.

Motor specifications are as follow:

Weight: 55 g

Dimension: 40.7 × 19.7 × 42.9 mm approx.

Stall torque: 9.4 kgf.cm (4.8 V), 11 kgf.cm (6 V)

Operating speed: 0.17 s/60º (6 V)

Operating voltage: 4.8 V a 7.2 V

Running Current 500 mA-900 mA (6 V)

Stall Current 2.5 A (6V)

Dead band width:5 µs

Abstract: One of the fast-paced technologies is the vending machine, which is a machine that

dispenses automatically, products such as beverages, tickets, snacks, etc., by inserting currency or

credit to the machine. Vending machines are generally used in public and private areas such as

malls, markets, business and government offices, schools and along the streets. The main project

that constructing Arduino based vending machine is sucessfully done as a graduation project. As a

part of Vending Machine Project; this analytical research paper mainly carried out the

mechatronic principle ,hardware design and digital software implemtation of the system.

Performance analysis of a servo motors control system is recordably done as a research paper

after finishing a graduation project“ Design and construction of a microcontroller based mini

vending machine”.

Keywords: Mechatronic, Design, Microcontroller, Arduino & Servo Motor.

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Stable and shock proof double ball bearing design

Temperature range:0ºC -55ºC

Picture 1. Symbol and Diagram of Continuous Rotating Servo Motor

The servo motor basically composed of three basic parts.

Controlling Device

Output Sensor

Feedback system

Servo motor is DC motor which consist of following parts

Stator winding

Rotor winding

Bearing

Shaft

Encoder

Most servo motors have the following three connections:

Black/Brown ground wire.

Red power wire (around 5V).

Yellow or White PWM wire.

It will be connected the power and ground pins directly to the Arduino 5V and GND pins. The

pulse width modulation(PWM) input will be connected to one of the Arduino's digital output pins.

1.2 Introduction to Arduino Uno

Before we can understand the UNO’s hardware, we must have a general overview of the

system. After code is compiled using Arduino IDE, it should be uploaded to the main microcontroller

of the Arduino UNO using a USB connection.

Picture 2. Pin Specification of Arduino UNO Board


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The main microcontroller doesn’t have a USB transceiver, it need a bridge to convert signals

between the serial interface (UART interface) of the microcontroller and the host USB signals.

The bridge in the latest revision is the ATmega 16U2, which has a USB transceiver and also a serial

interface ( UART interface). To power Arduino board, use the USB as a power source. Another option

is to use a DC jack. To reset board, should use a push button in the board. Another source of reset

should be every time, open the serial monitor from Arduino IDE.

The ATmega328 microcontroller is the MCU used in Arduino UNO R3 as a main controller.

ATmega328 is an MCU from the AVR family, it is an 8-bit device, which means that its data-bus

architecture and internal registers are designed to handle 8 parallel data signals.

ATmega328 has three types of memory.

1. Flash memory: 32KB nonvolatile memory. This is used for storing application, which explains

why don’t need to upload the application every time to unplug arduino from its power source.

2. SRAM memory: 2KB volatile memory. This is used for storing variables used by the

application while it’s running.

3. EEPROM memory: 1KB nonvolatile memory. This can be used to store data that must be

available even after the board is powered down and then powered up again.

Picture 3. Two different packages of the ATmega328 Power

2. SYSTEMS OF VENDING MACHINE The first modern coin-operated vending machines were introduced in London, England in the

early 1880s, dispensing postcards. The machine was invented by Percival Everitt in 1883 and soon

became a widespread feature at railway stations and post offices, dispensing envelopes, postcards, and

notepaper. The internal communication in vending machines is typically based on the MDB standard,

supported by National Automatic Merchandising Association (NAMA) and European Vending &

Coffee Service Association (EVA). After payment has been tendered, a product may become available

by the machine releasing it, so that it falls in an open compartment at the bottom, or into a cup, either

released first, or put in by the customer, or the unlocking of a door, drawer, or turning of a knob.

Picture 4. An automatic stamp and postcard vending machine


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Beverage Vending Machine Using PLC and SCADA can operate and control automatically

the beverage preparation by using PLC. It can monitor the parameter of the process in the plant using

SCADA technology because SCADA system is used as supervisor or monitor for the process through

an animation. In this plant, several operations will run simultaneously by the help of PLC. In the first

process, the pump feed the ingredients to the process ingredients tank from the reservoir. In the second

process the liquid concentrate of different beverages (Orange and Mango) are mixed with the

ingredients in their respective tanks. In the third process the bottles filled with the beverages moves to

the packaging unit by a conveyor which will by a conveyor motor. These are all automated processes

leads to more accuracy and flexibility of the system.

An RFID Based Arduino Controlled Coffee/Tea Vending Machine gives the access through

only RFID which avoid the misuse of machine. A small RFID reader is fitted on the machine. The

identity card which contains RFID tag is given to each employee. According to estimation the numbers

of cups per day as per client’s requirement are programmed. Then an employee goes to vending

machine show his card to the reader then the drink is dispensed. But when employee wants more

coffees than fixed number, that person is allow for that but that employee has to pay for extra cups and

amount is cut from the salary account.

3. RESEARCH METHODOLOGY

As a servo motor control vending machine , Arduino UNO board, Nokia LCD 5110, four servo

motor and four push-buttons are used. Rectifier circuit is used for LED string light. Uno is used to

program for the vending machine while LCD is for showing the information such as inserting coil and

making a selection. User can choose the product by touching the related button. For the servo motor, it

is used for the dropping of the product.

Picture 5. Overall Block Diagram of Vending Machine

Firstly, after supplying the power to Arduino board, it is started running with the program

install in it. Then, LCD starts working by showing the information, project group number and name. In

addition, it asks the user to insert the coin for buying the product. Then, the user must insert appropriate

coin to the coin insert hole. As soon as the user inserts the coin, LCD monitor asks the question “Please

make a selection”.


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LCD 5110

8 7 6 5 4 3 2 1

3.3V

5v

GND

A0

A!

A2

A3

A4

A5

Arduino UNO

13

12

11

10

9

8

7

6

5

4

3

2

1

0

Servo 1

GROUND

Coin insert

AC 220V

String light

14

5V

12V

0V

Servo 2

Servo 3

Servo 4

Picture 6. Overall Circuit Diagram of Vending Machine

As Arduino based project, it is convenience and easy to build and no many components are

needed. This can run automatically as long as it is supplied by the required amount of power. So, no

employee is needed to cash and to give service to the customer for showing them where the products

are. It can use everywhere that the required power supplied can get.

Therefore, it can be put at the public places like garden, train station and others. So, people can

buy easily whenever they needed even when they relaxing. The main disadvantage of this project is the

detection of the correct coin. As this is the general process of the vending machine so user doesn’t add

the sensor to detect the coin.


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Start

End

Information shown on LCD

Insert coin

Choose a product

Push button 1

Push button 2

Push button 3

Push button 4

Servo 1

Servo 2

Servo 3

Servo 4

Required product

Required product

Required product

Required product

Yes

No

Yes

No

No

Yes

Yes

No

Picture 7. Flowchart of the System


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4. RESEARCH RESULT

As testing result of a vending machine design , result photos are mentioned in Picture 8 to

Picture 11.

DIGITAL (~PWM)

ANALOG IN

ATMEGA328P-PU1121

~~

~

~~

~

TX

RX

PD

0/R

XD

0P

D1/T

XD

1P

D2/IN

T0

2P

D3/IN

T1

3P

D4/T

0/X

CK

4P

D5/T

15

PD

6/A

IN0

6P

D7/A

IN1

7

PB

0/IC

P1/C

LK

O8

PB

1/O

C1A

9P

B2/S

S/O

C1B

10

PB

3/M

OS

I/O

C2A

11

PB

4/M

ISO

12

PB

5/S

CK

13

AR

EF

PC

5/A

DC

5/S

CL

A5

PC

4/A

DC

4/S

DA

A4

PC

3/A

DC

3A

3P

C2/A

DC

2A

2P

C1/A

DC

1A

1P

C0/A

DC

0A

0

RE

SE

T

ARD1ARDUINO UNO R3

RS

T4

SC

E3

VC

C1

GN

D2

D/C

5

DIN

6

SC

LK

7

LE

D8

LCD1NOKIA5110

-5.02 -4.95

+0.39+0.46

R1

10K

R2

10K

R3

10K

R4

10K

R5

10K

D1LED-BLUE

R6

100

Picture 8. Simulation of vending machine control processes in proteus software

Picture 9. Coil banding


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Picture 10. Combining Arduino, LCD and Servos

Picture 11. Testing servo motor with coil

5. DISCUSSION AND CONCLUSION

The servo motor control vending machine is mainly controlled by using Arduino UNO

board which can program for the entire project to run automatically. Using a microcontroller is more

convenience instead of PIC with the other requirements. For the changing of technology, automatic

machines are mostly used all over the world. Although all automatic machines are not the same, the

working system may be the same. It all can run as long as it has enough power. Without needing any

human to give service for selling a product is the advantage of this project.

Thus, the overall operation of this project is very simple and the machine is also easy to use.

But, in this project, testing cannot detect the correct coin. That is the main disadvantage of this project.

If that can be upgraded, this may be a good project for the society. Overall, this project is a general

vending machine and observer can upgrade whatever we want to.

When the world is running hastily with advancement, time is the undisputedly the most

valuable resource of all. It becomes inevitable to save the time by all possible means. This automatic

vending machine offers variety of product as well as many different types of payment option. In the


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recent time use of digital is increasing day by day due to their accuracy and feasibility. Due to time

saving feature people can use vending machine in busy area like airport, bank, office etc. This system is

portable, affordable, consumes less power and can be made easily available so that the user can use this

system whenever and whatever.

6. REFERENCES 1. John Harold A., Jullan Victor S., Clint Vincent A., Gildred Roberto Jr. L.: Design and Fabrication of an Instant

Noodle Vending Machine, Mapua Institute of Technology, 2015.

2. Kamalanathan P., Irshath Ahmed R., Kalaiselvan P.: Automatic Paper Vending Machine, International Journal of

Science, Engineering and Technology Research, Volume 4, Issue 4, 2015.

3. Prof.S.S.Desai, Sayali Maruti Jadhav, PriyaShivajiPatil, Giri Neeta Sambhaji: Automatic Chocolate Vending

Machine By Using ArduinoUNO, International Journal of Innovative Research in Computer Science &

Technology, ISSN: 2347-5552, Volume 5, Issue 2, 2017.

4. Leo Louis , Working Principle of Arduino and using it As A Tool For Study And Research, International Journal

of Control, Automation, Communication and systems (IJCACS), Volume1, No.2 , April 2016.

5. Banzi, Massimo.Getting Started with Arduino. Sebastopol, CA; O’Reilly, 2009.

6. Kernighan, BrainW., and Dennis M. Ritchie.The C programming Language. Upper Saddle River, NJ: Prentice Hall

PTR, 1988.

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perfomance of servo motor control system for a mini ... · servo motor is dc motor which consist of...

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