Team AECE 496: Gyrobot

Michael Tan

Trey Moran

Rod Petak

Rob Slater

Quy Quan

Overview

Planning, organization, setup (Michael) Component procurement (Trey) Gyrobot construction (Rod) Base construction (Rob) Programming (Quy) Troubleshooting, future plans (Quy)

PlanningPersonal involvement: Michael

OrganizationPersonal involvement: Michael

Assigning tasks Supervising and providing support Weekly report Website

SetupPersonal involvement: Michael

Configuring software Testing servotogo breakout board

Component ProcurementPersonal involvement: Trey

Motor/Encoder Combo Shaft Encoder Bearings and Housing Shaft and Lock Collar

Motor-Encoder ComboPersonal involvement: Trey

Pittman 9237S011 24Vdc High

Torque/Weight Ratio

500 CPR encoder Tried and True

Shaft EncoderPersonal involvement: Trey

US Digital E3 Optical Encoder 2048 CPR Quadrature Type 5/8” Shaft Diameter Hole Option Tool Option Cable Option

Bearings and HousingPersonal involvement: Trey

Dayton-1F636/36/12 Ultra-High Molecular

Weight Polyethylene 5/8” Bore Very Low Friction Self Aligning Inexpensive

Shaft and Lock Collar Personal involvement: Trey

Shaft Purchased 5/8” x 36” Cut to 5/8” x 18”

Lock Collar Necessary to Lock the shaft in place Design Utilizes only one

Hardware construction(Machined Parts)

Personal involvement: Rod

Courtesy of:

Custom Equipment (Greenville, SC)

Hardware construction(Link)

Personal involvement: Rod

Drawing changes and omissions No extra holes No black anodize Motor mounting modification

Coupler Designed Join link to 5/8” shaft

Hardware construction(Flywheel)

Personal involvement: Rod

Drawing changes and omissions Steel Vs. Brass

Material DensityTotal Price

Motor Coupling Pressed fit vs. Set Screw fit

Base constructionPersonal involvement: Rob

Design Goals Stabilization Zero impedance of flywheel and link Safe for test phase

Base construction(Stabilization)

Personal involvement: Rob

Initial design Platform with extension C clamps

Final Design Smaller Platform Incorporating interface

wiring

Base construction(Low Impedance)

Personal involvement: Rob

Wire length Enough for test phase Keeping the wires neat

Problems and Solutions Wires were sporadic, tie wraps Wires caught end of platform extension, location

of wraps Gyrobot could malfunction, kill switch

Base construction(Final design)

Personal involvement: Rob

Programming(Control)

Personal involvement: Quy

Swing up control Balancing control

Programming(Swing up Control)Personal involvement: Quy

Non-collocated Collocated Sinusoidal

Not exceed +-10V at any angle Maximum effort near rest position Minimum effort through inverted position

Programming(Balancing Control)Personal involvement: Quy

PID (Proportional, Integral, & Derivative) PD (Proportional & Derivative)

Simplest control for inverted pendulum

Troubleshooting

Problem Mandrel has too

much friction

Solution Used polyethylene

bearings instead

Problem The motor encoder

was not providing correct output

Solution Found that GND

and +5 pins are switched

Current Progress

One week behind schedule More time will have to be spent on

programming to catch up to deadline

Future plans

Prepare balancing system for Bonus Day Optimize program for Competition Day