SENIOR DESIGN 10/16

Pulse Width Modulation (PWM) PWM is a way of digitally encoding analog signal levels. Through the use of high-resolution counters, the duty cycle of a square wave is modulated to encode a specific analog signal level. The PWM signal is still digital because, at any given instant of time, the full DC supply is either fully on or fully off. The voltage or current source is supplied to the analog load by means of a repeating series of on and off pulses. The on-time is the time during which the DC supply is applied to the load, and the off-time is the period during which that supply is switched off. Given a sufficient bandwidth, any analog value can be encoded with PWM.

Pulse Width Modulation (PWM) Three different PWM signals. Figure 1a shows a PWM output at a 10% duty cycle. That is, the signal is on for 10% of the period and off the other 90%. Figures 1b and 1c show PWM outputs at 50% and 90% duty cycles, respectively. These three PWM outputs encode three different analog signal values, at 10%, 50%, and 90% of the full strength. If, for example, the supply is 9V and the duty cycle is 10%, a 0.9V analog signal results.

Motors

Relays and Solenoids

MOTORS DC DC MOTOR COMMUTATOR BRUSHES

MOTORS servo Hobby Servo: Built in Encoder -- Built in Servo Controller +V, GND, Signal Give the signal line a PWM value. (like PWM) ATT: Pulse Width DEFINES POSITION, NOT SPEED Pulse Width Signal created by Built Servo Controller. [the above is true for hobby servos. It allows for cheap Motors. Industrial servos, use different control Techniques….]

MOTORS Stepper Stepper Motor [Electro-Magnets]

RELAYS Microcontroller->Transistor->Solenoid

RELAYS

RELAYS solid state Solid State Relays (SSR) DC Solid State: opto-isolation, very fast (PWM), very low power, drive directly from Microcontroller. AC Solid State: same as above, may not be able to switch faster than the AC Signal frequency. (used in light dimmers)

RELAYS vs. Transistor Switch Mechanical Relay: cheap, makes little noise, visible Mechanical motion. Solid State Relay: opto-isolation, very fast (PWM), very low power, drive directly from microcontroller. Transistor Switch: very cheap, small, fast.

SENSORS RESISTIVE SENSORS: CAPACITIVE: PIEZO ELECTRIC PYRO ELECTRIC (change resistance) “Photocell” “Bend Sensors” “CO sensor” CAPACITIVE: (change capacitance) “Condenser microphones” “Touch Sensors” PIEZO ELECTRIC PYRO ELECTRIC SONARS

SENSORS PIEZO ELECTRIC: PYRO ELECTRIC Create voltage when bent / when voltage across they bend… . some capacitive sensors have digital-out built in. PYRO ELECTRIC Warps when exposed to heat. => change capacitance (“Motion Infrared Sensors”)

SENSORS SONARS PHOTOTRANSISTOR Light controlled switches Emit sound and record time it takes for sound waves to return. (reflection, angle, complications…) PHOTOTRANSISTOR Light controlled switches (base current created with photons)

SENSORS INFRARED REFLECTION SENSORS IR OPTICAL SWITCH Transmitter / Receiver in one package or two. (record reflection time, similar to sonars; can be used as collision detection sensors or data link.) IR OPTICAL SWITCH IR LED + PHOTOTRANSISTOR

SENSORS BARCODES, RFID, ACCELEROMETERS, THERMISTORS, HUMIDITY, SENSORS, GYROSCOPES (how fast you’re turning)… .

H-Bridge and Power

H-Bridge and Power C Motor Control with a TIP120 TransistorThis example assumes you're using a DC motor that runs on low voltage DC, in the 5-15V range. Connect leads to Its terminals, and run if from a benchtop power supply if you have one. Try changing the voltage on it, and seeing what effect it has. Don't go over the motor's rated voltage. Connect a switch in series with the motor and use it to turn on the motor. Connect the base of a TIP120 transistor to one pin of your microcontroller. Note the second power supply. Most motors take a great deal more current than a microprocessor , and need their own supply. The example below uses a 9V battery as a separate power source. Whatever motor you use, make sure the power source is compatible (i.e. don't use a 9V battery f or a 3V motor!). Although the example shown is on a BX-24, you can use it with any microcontroller. Just connect the 1K resistor to the output pin of your microcontroller.

H-Bridge and Power This circuit drives small DC motors up to about 100 watts or 5 amps or 40 volts, whichever comes first. Using bigger parts could make it more powerful. Using a real H-bridge IC makes sense for this size of motor, but hobbyists love to do it themselves, and I thought it was about time to show a tested H-bridge motor driver that didn't use exotic parts.

http://www.allegromicro.com/ H-Bridge and Power

H-Bridge and Power

H-Bridge and Power

H-Bridge and Power PWM MOTOR DRIVER

Translating Rotational Movement WORM GEAR

Translating Rotational Movement Linkages

Translating Rotational Movement Belt Drive

Translating Rotational Movement Mechanical Movements

Robotic Mechanisms http://www.beatrizdacosta.net/projects.html

Motor Positioning

Motor Positioning

OUR ASSIGNMENTS Light to vary motor speed. Heat to set off siren.

Light to Speed Mapping data… AND redefine your baseline each time...

Heat to Sound Define Threshold… AND redefine your baseline each time..

ANALOG VOLTAGES on ARDUINO analogRead: -- reads an analog voltage at any of the ADC pins (you have 6). analogWrite: -- writes a PWM pulse to the PWM enabled digital pins (you have 3). Sensor “Calibration”

READING/WRITING Global Issues, question 1&2. 2 pages max. Due: October 30th, beginning of Lecture. No lecture next week.