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Senior Design

by: Teagan Klocko MD
Teagan Klocko MD
GPA 3.93

Erik Goodman

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Erik Goodman
Class Notes
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This 29 page Class Notes was uploaded by Teagan Klocko MD on Saturday September 19, 2015. The Class Notes belongs to ECE 480 at Michigan State University taught by Erik Goodman in Fall. Since its upload, it has received 51 views. For similar materials see /class/207385/ece-480-michigan-state-university in Electrical Engineering & Computer Science at Michigan State University.

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Date Created: 09/19/15
QuaslrMotlon Trpper Platform Applreatron Note By Dan Raphael 08 11720 Keywords QuaslrMon on upper platform bellows unrversal Jolnt hvolraulres Abstract A trpper platform ereates bank and prteh movement whl eh ls useful m srmulators Thls applreatron note provroles aproeeolure for ereatrng a QuaslrMotlon upper platform and olesenbes deslgn eonsrolerataons Intr nductinn The um r l both duectlons Together the bellows anol unrversal Jomt ean support agreat amount of werght 0h ecuve The purpose of thrs note ls to olesenbe how the upper platform works howto ereate a QuaslrMon on upper platform and deslgn eonsroleratrons Use at Hydraulics motron the pumps are useolto transfer hvolraulre uld between the bellows The bellows on the xraxls e eonneeteolto eaeh other througn the hvolraulre system so that when ne srole ls frlleolto the maxlmum level the other srole ls at the mrnrmum level The same ls true for the yraxls Beeause ofthe use ofthe rneompressrble hvolrauhe uld thrs platform ean support agreat oleal ofwergnt whrle stall ereatrng motron Procedure for Creating Tipper Platform The first step in building a tipper platform is to create a frame for the top and bottom Steel tubing is often used in the frame because it is strong inexpensive and easy to weld Steel tube supports are attached inside the outer frame in order to distribute the load being placed on the bellows and universal joint Flat plates are attached to these supports which are then attached to the bellows and the bellows and universal joint are attached between the top and bottom frame Once the base is constructed the hydraulic oil is added to the bellows and hydraulic tubing is attached between the bellows and the electric pumps using a crimping machine Design Specifications First the user must specify how much weight will be placed upon the platform The spacing of the bellows can be determined in order to support the maximum allowable torque Based on the pressure and diameter specifications of the bellows being used the supported torque can be found using the equation d 2 7t 2711 7P172110w 20W F0ppr where FOpp is the estimated opposing force and r is the distance from the bellow to the pivot point in the center Next based on the desired maximum angular velocity and angular displacement and the distribution of weight upon the platform the theoretical moment of inertia can be found using 72m 0 ZMY l 20ml where 110131 is the total moment of inertia of the components on the platform The design must allow the theoretical torque to be less than the maximum allowable torque F 39 and quot39 A hydraulic tipper platform is a very effective piece of equipment that can be used in simulation applications Since the bellows use an incompressible uid they can support a large load while still effectively creating bank and pitch motions When creating a tipper platform there are several factors to consider One thing to keep in mind is that while spacing the bellows farther can reduce the theoretical torque it will also limit the motion of the motion of the platform Because of this it is important to define how much angular displacement is necessary to create a realistic experience Another thing to consider is that it is optimal to place the bellows upsidedown so that the tubing is coming out of the top This will make it easier to bleed the air out of the bellows which will reduce the cavitations in the hydraulic system and cause it to work more efficiently The SRF weighs 35 g Two views onne completed SRF Colnpmlems include Inaull llg block A snm39on mp B Inicl39orplllnp C pressure nsensol39 D amllniu39orvzllve E u Output 02 to 47 Volts Convenient for Use with PIC microcontroller Range from 0 to 145 psi 25 Max Error Output Saturates when of FRESSJRE Wat Cup 1 Made of Nitrile PVC Weighs 155 grams Built in Mesh Filter ldeally for FlatSmooth Cup 2 Made of Ethylene Propylene Weighs 22 grams Suitable for Irregular and Rough Surfaces l m 834 azno zsno 3 v 2m 5 5m n mm am am znmm I Inc we 25 w 15 m as n In 35 In wpdiimeterhllm culeanMermm aquotI Operates at 3 VDC 30psi Allows quick release of pressure from the suction cup Relaxed States Normally Open Normally Closed Vacu u m atm Press Pressu re Flow capacity lfmln L Itre at STPi l p Creates a vacuum by providing oneway air transfer out of the enclosed space Air is drawn into the diaphragm chamber on the upstroke and expelled on the downstroke This cycle occurs 1000 times per minute g 4 9 g 7 AAJ Housing Pressure Sensor Is not porous will create vacuum Used Mill to create 6 smooth surfaces Holes were made with a 18 bit using a drill press Used Epoxy to make sure parts create air tight seal g 4 9 g 7 AAJ which equate to increased work load for vacuum pump and slower time to seal Loses are contributed by Total surface area of enclosure Changes in geometry Surface roughness or finish SRF requirements How will the microcontroller interact with the SRF Inputsoutputs High Level tasks lnmalizall Suction Release Reset Report status Release suctiOn Interaction with Microcumrcller F sxmcmve mm hmds me The mmer s a a g luuwut ma ells me vacuum m mm on 5R Pm number far we uuuus and inpms he va ver s a mgnal umum mm ells me va ve m open cypedef 5mg InsugAed mnuP1n nslg ed valvePrn nalgned 3 s vum rfkeaeEKSRF man 1 r axfsnccxunLSRF mm szeleasek EHH i components Different Options Mechanical Relays SolidState Relays Power Transistors Load 5Vsignal from Microcon troller will bias transistor on Damping Diode Vout 39Vcc 0739 uvs Varied for Desired Applications Larger Load Carrying Potential Increase Cup Size Pump Strength Testing Required for Each Modification New Values for Programming g 4 9 g 7 AAJ Controlling a LCD with a PIC Interfacing a Matrix Orbital parallel LCD with a Microchip PIC Keywords LCD PIC Matrix Orbital Microchip Parallel Interface Author Adam Young Date 20070329 Executive Summary Many times a Liquid Crystal Display LCD interface is needed to display information There are multiple common protocols that are used for LCDs This application note will show how to inter face a typical parallel protocol LCD and a Programmable Integrated Circuit PIC Objective This application note will explain how to control the Matrix Orbital MOPAL082BBYFY LCD with a Microchip dsPIC30F4012 chip Introduction Matrix Orbital is a provider of inexpensive Liquid Crystal Displays LCD and Microchip is a provider of inexpensive Programmable Integrated Circuits PIC Together the devices can be used to create a simple and inexpensive information display for a wide range of projects This application note will describe how to interface the Matrix Orbital MOPAL082BBYFY with a Microchip dsPIC30F4012 chip by using the free MPLAB IDE and free dsPIC Peripheral Library provided by Microchip Hardware The Matrix Orbital MOPAL082BBYFY LCD is an 8 character 2line display This display utilizes a parallel interface for communications The parallel interface has 8 data lines and also separate lines for Register Select RS ReadWrite IUW and Enable E This means that 11 connections will have to be made between the LCD and the PIC For this interface to function all the bits are set correctly except the enable bit which is kept high When the other bits are set the enable bit is toggled low so that the LCD knows it is time to read the bits The Microchip dsPIC30F4012 has 20 10 pins This makes it suf cient for communications with the LCD still allows for 9 more connections to be made with other possible devices in a project Figure 1 outlines the connections that will need to be made between the LCD and the PIC LCD Pin LCD Symbol PIC Pin PIC Symbol 4 RS 22 RE4 5 RNV 12 RC14 6 E 21 RES 7 DBO 14 RD1 8 DB1 3 RB1 9 DB2 4 RB2 1O DB3 5 RB3 11 DB4 6 RB4 12 DB5 7 RB5 13 DB6 23 RE3 14 DB7 11 RC13 Figure 1 LCD and PIC interconnections Software Microchip offers a peripheral library for download see reference 2 for download location that contains many helpful tools to successfully interface the LCD One of the peripheral modules that is included is the XLCD module This is a module meant for interfacing a different LCD the Ptec PCOG1602B For this reason the XLCD module will not operate the Matrix Orbital LCD defined in this application note Setup MPLAB Project Create a new project in MPLAB and add to the project the following files oPeripheral Librarysrcperipheralincludexlcdh oPeripheral Librarysrcperipheralsrcpmcxlcd Change PIC Requirements Open each of the les that were added to the project in step 1 and change the following lines from iF deFineddsPIC30F5011 deFineddsPIC30F5013 deFineddsPIC30F6010 deFineddsPIC30F6011 deFineddsPIC30F6012 deFineddsPIC30F6013 deFineddsPIC30F6014 deFineddsPIC30F6010A deFineddsPIC30F6011A deFineddsPIC30F6012A deFineddsPIC30F6013A deFineddsPIC30F6014A deFineddsPIC30F5016 deFineddsPIC30F6015 To iF deFineddsPIC30F4012 This will tell the compiler that the code between the if and endif tags should only be used for the dsPIC30F4012 This is also a good time to edit the headers of these les to re ect the Matrix Orbital LCD since these les will no longer work for the Ptec PCOG1602B LCD Edit PICLCD Pin Layout Open the le chdh and edit the PORT and TRIS de nition lines to match the pin layout that is outlined in Figure l The top portion of the le which includes all of the changes can be seen in Figure 2 Changed values are marked in red Header For XLCD module library Functions For Matrix Orbital MOP ALQSZB BYFY LCD controller iFndeF XLCDH deFine XLCDH External LCD Functions are only deFined For the Following devices iF deFineddsPIC30F4012 uncomment the Following line iF 8 bit interFace is being used deFine EIGHTBITINTERFACE deFines oF the data pins and the corresponding tris pins deFine DATAPIN7 PORTCbitsRCl3 deFine DATAPIN6 PORTEbitsRE3 deFine DATAPIN5 PORTBbitsRBS deFine DATAPIN4 PORTBbitsRB4 iFdeF EIGHTBITINTERFACE deFine DATAPIN3 PORTBbitsRB3 deFine DATAPIN2 PORTBbitsRB2 deFine DATAPIN1 PORTBbitsRBl deFine DATAPIN0 PORTDbitsRDl endiF deFine TRISDATAPIN7 TRISCbitsTRISCl3 deFine TRISDATAPIN6 TRISEbitsTRISE3 deFine TRISDATAPINS TRISBbitsTRISBS deFine TRISDATAPIN4 TRISBbitsTRISB4 i FdeF EIGHTBITINTERFACE deFine TRISDATAPIN3 TRISBbitsTRISB3 deFine TRISDATAPIN2 TRISBbitsTRISBZ deFine TRISDATAPIN1 TRISBbitsTRISBl deFine TRISDATAPINO TRISDbitsTRISDl endiF deFines of the control pins and the corresponding tris pins deFine EPIN PORTEbitsRES PORT For E deFine RWPIN PORTCbitsRCl4 PORT For RW deFine RSPIN PORTEbitsRE4 PORT For RS deFine TRISE TRISEbitsTRISES TRIS For E deFine TRISRW TRISCbitsTRISCl4 TRIS For RW deFine TRISRS TRISEbitsTRISE4 TRIS For RS Figure 2 Altered portion of Xcdh with changes marked in red Edit Initialization Commands The Matrix Orbital LCD and the Ptec LCD use the same type of parallel interface to send and receive data but the initialization sequences the LCDs use are completely di erent Figure 3 shows the initialization sequence that will need to be implemented for the Matrix Orbital LCD Power on Waitformore than 40 ms after VDDnses to 4 5 V Figure 3 LCD initialization sequenceT The variables B C D N L lD and S are de ned in the LCD data sheet and EF unnuthchenkedbefmelhismslxumm described in Figure RS RlWDB lelB lB4lB lB lBlDBD FmEhDHSEt 000011NF Waitfor more than 3 EF unnutbe nhenkedbefm thismslxumwn RS RWDB lelB lB4lB lB lBlDBD Funlztmn set Waitfor more than 37H RS RW DB7 DB6 DB5 DB4 DB3 DB2 DB1 DBO WWWOFF mm o o o o o o 1 B c D Waitfor more than 37 1s Displayclm RS RW DB7 DB6 DB5 DB4 DB3 DB2 DB1 DBO D D D D D D D D D l Waitfor more than 1 53 ms RS RW DB7 DB6 DB5 DB4 DB3 DB2 DB1 DBO EWMWSE o o o o o o o 1 ID s Initialization ends Open the le OpenXLCDc and look at lines 56 117 These lines implement the Ptec initializa tion sequence and need to be replaced with the correct sequence To do this an 8bit sequence for each of the steps outline in Figure 3 will be written using the function WriteCdeLCDO Before the first write and after each additional write command a delay is needed to wait for the LCD to process the command There are delay functions predef1ned in delayc These are the delays Delay18Tcy Delay for 18 time cycles Delay100Tcy Delay for 100 time cycles DelayPORXLCDO Delay for a minimum of 15ms DelayXLCD Delay for a minimum of 5ms These delays do not correspond exactly with the required delays that are outlined in Figure 3 Since those numbers are minimum wait times any delay that is longer than the minimum can be still be used To begin the correct initialization remove lines 56 117 of OpenXLCDh In place of these lines enter the first necessary delay This should be any combination of the delay functions listed above which sum to greater than a 40ms delay The easiest sequence is to call DelayPORXLCDO three consecutive times A write command is used next with a bit sequence of 001111M where can be either 0 or 1 This can be expressed as WriteCdeLCD0b00111100 Continue adding delays and write sequences until the entire initialization process is complete Figure 4 shows a correct initialization sequence Allow a delay For PORminimum of 45ms requires 40ms DelayXLCD DelayXLCD DelayXLCD Set up the interface to the lcd 0 l l N F number of display lines N2 line1 line display Font type F5gtltll dots5x8 dots nz WriteCdeLCD0b00111100 Allow a delay of at least loous requires 39us Delay100XLCD Set up the interface to the lcd 0 0 0 0 l D C B D display ONOFF C cursor B cursor blink WriteCdeLCD0b00001111 Allow a delay of alteast 1 micro secs required 37us Delay100XLCDO Display Clear WriteCdeLCD0b00000001 wait For atleast Sms required 153ms DelayXLCDO Entry Mode Set 0 0 0 0 0 1 ID S ID cursor moving direction S shift of entire display WriteCmdMOLCD0b00000110 Figure 4 Correct initialization code Using the LCD module To use the LCD module in a project the X1cdh file must be included Before commands can be sent to the LCD module the OpenXLCD function that was edited above must be called first Any other LCD commands can be called after it Single characters can be sent to the LCD with WriteCdeLCDO and strings can be sent with PutsXLCDO To move between the top and bot tom lines the cursor needs to be moved For this a command is sent The bit sequence 10000000 will put the cursor at the start of the top line The bit sequence 11000000 switches to the start of the bottom line Figure 5 shows a functional example application that will output Hello on the top line of the LCD and World on the bottom line of the LCD include ltp30F4012 hgt include ltxlcd hgt void displaylinelchar void displayline2char int mainvoid OpenXLCDO displaylinelquotHelloquot displayline2quotWorldquot return 0 void displaylinelchar str WriteCdeLCD0b10000000 go to line 1 start PutsXLCDquot quot blank line 1 in case it wasn39t WriteCdeLCD0b10000000 go back to line 1 start PutsXLCDstr void displayline2char str WriteCdeLCD0b11000000 go to line 2 start PutsXLCDquot quot blank line 2 in case it wasn39t WriteCdeLCD0b11000000 go back to line 2 start PutsXLCDstr Figure 5 Sample application displays Hello World


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