Ball Position Control with BLDC Motors and Propellers
Ball Position Control with BLDC Motors and Propellers
Advanced Mechatronics II Final Project
Advanced Mechatronics II Final Project
March 2020
Embedded Files
Summary
Summary
I built a variation of the classic “ball on a beam” fourth order system. The ball’s position is controlled by a PID controller(integral value in the code is set to zero so I guess that makes it a PD controller) implemented through an Ardino Uno. The position of the ball is controlled by a potentiometer that is mapped out from 0 to 24 because the tube is 24 inches long. There is a ultrasonic sensor at one end of the tube sensing the position of the ball.
I built a variation of the classic “ball on a beam” fourth order system. The ball’s position is controlled by a PID controller(integral value in the code is set to zero so I guess that makes it a PD controller) implemented through an Ardino Uno. The position of the ball is controlled by a potentiometer that is mapped out from 0 to 24 because the tube is 24 inches long. There is a ultrasonic sensor at one end of the tube sensing the position of the ball.
progelherrera - MECH 208 Final Project Video.MOVDesign Description
Design Description
HC-SR04 Ultrasonic Distance Sensor
HC-SR04 Ultrasonic Distance Sensor
The HC-SR04 Ultrasonic Distance Sensor sends out eight 40kHz pulses and waits for pulses to return. While it is waiting it outputs a high signal. When the sensor receives a response the high signal becomes a low signal.
The HC-SR04 Ultrasonic Distance Sensor sends out eight 40kHz pulses and waits for pulses to return. While it is waiting it outputs a high signal. When the sensor receives a response the high signal becomes a low signal.
Racerstar BR2212 1000KV 2-4S Brushless Motor
Racerstar BR2212 1000KV 2-4S Brushless Motor
BLDC motor typically used on multirotors.
BLDC motor typically used on multirotors.
Gemfan 1045 Carbon Nylon Propellers
Gemfan 1045 Carbon Nylon Propellers
Propellers able to generate around 800g of thrust.
Propellers able to generate around 800g of thrust.
Arduino Uno
Arduino Uno
This Arduino Uno is a microcontroller board that uses the ATmega328P microcontroller.
This Arduino Uno is a microcontroller board that uses the ATmega328P microcontroller.
Software
Software
The setup calibrates the electronic speed controllers by assigning a high value of 2000us and low value of 1000us. In the main loop the setpoint is read from the potentiometer and the measure ultrasonic sensor’s distance is retrieved from an outside function. The error based on the desired distance and setpoint is calculated.The PID constants are calculated and added together. Limits are put on the PID value. This PID value is added to the initial throttle. Limits are set on the PWM signals. The PWM signals are converted to pulses. The error is updated. Information is displayed on the LCD and the loop repeats.
The setup calibrates the electronic speed controllers by assigning a high value of 2000us and low value of 1000us. In the main loop the setpoint is read from the potentiometer and the measure ultrasonic sensor’s distance is retrieved from an outside function. The error based on the desired distance and setpoint is calculated.The PID constants are calculated and added together. Limits are put on the PID value. This PID value is added to the initial throttle. Limits are set on the PWM signals. The PWM signals are converted to pulses. The error is updated. Information is displayed on the LCD and the loop repeats.
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