automated precision machines team 2 nicholas neumann ralph prewett jonathan brouker li tian felix...
TRANSCRIPT
Automated Precision Machines
Team 2Nicholas Neumann
Ralph PrewettJonathan Brouker
Li TianFelix Adisaputra
November 5th, 2010
Contents
Servo Motor Stepper Motor Sensors for Precision Control Robotic Programming Languages Automated Machines
Servo Motor
Proportional-Integral-Derivative Control
Overshoot = 0 Rise Time Settling Time Steady-State Error = 0
Stepper Motor
• Brushless, Synchronous Electric Motor
• Open-Loop System(No Feedback)• Full Rotation Divided into
Large Number of Steps• Torque Decreases as
Speed Increases.
Stepper Motor Permanent Magnet Stepper Motor
• “Tin-Can” or “Canstock”• Low Cost• Low Resolution• 7.5o to 15o step angles• 48-24 steps/revolution
• Rotor Magnetized with Alternating Poles
• More Magnetic Flux Provides More Torque
Stepper Motor Hybrid Stepper Motor
More Expensive Better Performance
• Torque• Speed
Higher Resolution• 3.6o to 0.9o step angles• 100-400
steps/revolution
Rotor• Multi-Toothed• Axially Magnetized
Concentric Magnet
Stepper Motor
Two-Phase Stepper Motor Bipolar Drive
• Single Winding per Phase• Half the Power Loss
Unipolar Drive• Two Windings per Phase• One for Each Magnetic Field
Direction• Fewer Switches
Servo Motor vs Stepper MotorServo Motor Stepper Motor
Drive Circuit Complicated. Difficult for user to fabricate it.
Simple. User can fabricate it.
Noise and Vibration Very little Significant
Speed Faster (3000-5000rpm max.) Slow (1000-2000rpm max.)
Out-of-Step Condition Not Possible (Heavy load Still Run)
Possible (Heavy load Stop)
Control Method Closed-Loop (uses an encoder) Open-Loop (no encoder)
Resolution
ppr = pulses per revolution
0.36° (1,000 ppr) to0.036° (10,000 ppr)
2-phase PM model: 7.5° (48 ppr)2-phase HB model: 1.8° (200 ppr) or 0.9° (400ppr)5-phase HB model: 0.72° (500 ppr) or 0.36°(1,000 ppr)
Sensors for Precision Control
Hall Effect Sensor Voltage Transducer Response to Changes in
Magnetic Field Applications:
• Switching, Positioning, Speed Detection, Current Sensing
Sensors for Precision Control
Advantage:They are immune to dirt, dust and water, They are capable of switching at high frequencies.They can be used for a wide variety of applications.
Sensors for Precision Control
Rotary Potentiometer Position Transducer Three-Terminal Resistor Adjustable Voltage Divider
Sensors for Precision Control
Linear Potentiometer Displacement Transducer Voltage Division
• Hybrid Conductive Film
Sensors for Precision Control
Rotary Encoder Electromechanical Device Angle Transducer Angular Position
Analog/Digital Code Types:
• Absolute Rotary Encoder• Incremental Rotary Encoder
Gray Code
Robotic Programming Languages C Language
Pros:• Speed of Resulting Application• Application in Firmware
Programming• Compatible with Many Other
Languages• Code is Compacted into
Executable Instruction
Cons:• No Runtime Checking• No Strict Type Checking
– Can Pass Integer Value for Floating Data Type• Very Difficult to Fix Bugs as Program Extends
Robotic Programming Languages RobotC Language
Pros:• More Functions than Regular Graphical Language• Easy to Navigate Through Program• Suitable for More Complicated Programs
Cons:• Text-Based Language
– Hard for Beginners• Must be Bought Separately
from Kit
Robotic Programming Languages Ladder Logic
Pros:• Familiar Programming Language
– Relay Logic (Widely Used)• Cost-Effective Equipment• Reliable Parts
– Simple Circuits
Cons:• Difficult Integration with Third Party Software
BASIC Pros:
• User Friendly and Interactive• Simple and Easy• Rapid Development• Powerful Front-End Tool• Multiple Vendor Support
Cons:• Memory Leakage• Passing Value by Reference• Only for Windows• Sluggish Performance
Robotic Programming Languages
Robotic Programming Languages LabVIEW
Pros:• User Friendly Graphical Interface• Universal Platform for Numerous
Applications• Compatible with Other Languages• Execution Highlighting Feature
Cons:• Expandability Problem
– Depends on How Well the Original Program was Written• Memory Management
– Difficult Memory Allocation• Expensive
Robotic Programming Languages LEGO Mindstroms NXT
Pros:• Icon-Based Drag and Drop
– Graphical Language• Easy Maintenance
– Simple Programs
Cons:• Lack of Complex Features in the Compiler
Which Language to pick? Previous Experience How much time and effort you intend to invest Your goals Availability
Robotic Programming Languages
Automated Machines
Programmable Logic Controller (PLC) Digital Computer Automation of
Electromechanical Processes Multiple Input-Output
Arrangements Armored for Severe
Conditions User Interface
Automated Machines
Supervisory Control and Data Acquisition (SCADA)
• Centralized Systems• Monitor and
Control
• Human-Machine Interface (HMI)• Alarm Conditions
Automated Machines
Main Advantages Replacing Human Operators in Monotonous
Work Performing Tasks that are Beyond Human
Capabilities• Size, Weight, Speed
Dangerous Environment• Space, Underwater, Nuclear Facilities
Economy Improvement
Automated Machines
Main Disadvantages Technology Limits
• Unable to Automate All Desired Tasks
High Initial Cost Unpredictable Development Costs