1. ECE 192: NATCAR Team (Triton X) Sponsored by IEEE (http://ieee.ucsd.edu) Vincent Bantigue, vbantigu@ucsd.edu vbantigu@ucsd.edu Joseph Formanes, jformane@ucsd.edu jformane@ucsd.edu Henry Kao, hkao@ucsd.edu hkao@ucsd.edu Puneet Khattar, pkhattar@ucsd.edu pkhattar@ucsd.edu Advisor: Dr. Clark Guest Week 4, 1/25/05

2. Agenda: Gantt Chart Task List for this week Technology/Applications Basic Car Design Budget Tasks Accomplished this week Upcoming Tasks for next week

3. Gantt Chart: Today Milestones

4. Task List for this week: Hold team and group meetings Make sure that each group member is familiar with the project Make sure that each group member is familiar with the project Discuss specifications and requirements Discuss specifications and requirements Create Gantt Chart Research parts and create budget Begin study and design of H-Bridge (motor controller), IR and EMF sensors Create basic header files for microcontroller programming

5. Technology/Applications: Technology: We will be using existing technology (microcontroller, electric motor, IR and EMF sensors)-- our innovation will be achieved through programming and sensor design. We will be using existing technology (microcontroller, electric motor, IR and EMF sensors)-- our innovation will be achieved through programming and sensor design.Applications: The research done on our project serves as a stepping stone to developing autonomous guidance systems on large-scale motor vehicles. The research done on our project serves as a stepping stone to developing autonomous guidance systems on large-scale motor vehicles.

6. Basic Car Design:

7. Budget: Microcontroller: Adapt 9S12DP256- $173.00 Chassis: Associated RC10L- $68.05 Motor: Trinity P2k2 Pro Stock Motor- $30.00 Servo: Hitec HS-311 Standard- $10.00 Batteries/Charger: 7.2V NiCad 2100mAh- $20.00 Motor Controller: H-Bridge Circuit- $5.00 Sensors: IR and EMF- $50.00 Miscellaneous: PCB’s, circuitry, body modifications, books- $140.00 PCB’s, circuitry, body modifications, books- $140.00 Teamwork: Priceless TOTAL: $496.05

8. Tasks Accomplished this week: Researched and started design for IR and EMF sensors, motor controller circuit Began researching microcontroller programming Acquired parts (batteries, books)

9. Upcoming Tasks for next week: Acquire any remaining components of the vehicle Test motor controller and assemble practice course Begin implementation of sensors (IR and EMF) Continue working on the microcontroller

10. Motor Driver

11. Pulse Width Modulation:

12. V = I*R motor + e e = 0 @ 0rpm V = I*R motor @ 0rpm R motor =1.5Ω, V=7.2V  I = 4.8A e is back-emf DC Motor Characteristics:

13. Providing Power to the Motor:

14. Flyback Diodes:

15. BJT Problems: Current driven I E = I C + I B I C = β * I B β = 20-50 for power BJTs @ I E = 5 5 = 50 * I B + I B I B = 5/51 = 98mA

16. Power MOSFET: Voltage driven NPN superior to PNP better high frequency operation higher current ratings lower resistance Power MOSFET includes flyback diode P = VI V = I*R P = I^2 * R = 0.175 watts

17. Future Considerations: Noise filters Braking Heat dissipation for MOSFET’s Using heat sinks Using heat sinks Using parallel MOSFET’s to split the current passing through each Using parallel MOSFET’s to split the current passing through each