Introduction Does not cover microcontroller Demo Body design Physics Sensor & Alignment PID control -- Speed

Speed Profile DC Motor sizing DC Motor driver Battery Search Algorithm???

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Photo of top and bottom of Min5

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Minimum mechanical design & construction PCB used as robot body () PCB is tough and strong Good soldering to withstand crash Sensors must be well supported (hot glue )

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DEMO

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1.0 Body Design Physics ()( )

Centre of gravity & weight transfer Moment of inertia () Robot weight () heavier or lighter? Robot wheel () bigger or smaller?

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1.1 Centre of gravity & weight transfer (&)

() High c.g. Acceleration () Reaction () Resultant force

Mouse weight

d weight transferred here

Weight on tire = (robot weight)(d-x)/d

Fig 1: Weight transfer when accelerating

When Robot is not accelerating/decelerating, all weight is on tires If there is no weight on tires -> no grip
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acceleration() Lower c.g. reaction Resultant force

d x is smaller

Weight on tire = (robot weight)(d-x)/d

Fig 2: Weight transfer when accelerating (low cg)

Lighter or slimmer motors to lower c.g. More weight on tires, hence more grip for acceleration Resultant force acts through c.g.
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Centrifugal force = (vv)/(2r)

Resultant force

Fig 3 : Weight transfer when cornering()

Stepper motor based micromouse has high c.g. Has a higher tendency to roll over if cornering at high speed.
()

Always keep the robot c.g. as low as possible Make robot as wide as possible () Make your robot like F1 car

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1.2 Moment of inertia ()

motor motor

High moment of inertia

Low moment of inertia

I = mr2 m = motor weight

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 When moment of inertia is high, rotational acceleration () is reduced for the same torque . Torque = I (F = ma)
() = ()

Keep heavy parts like motors, battery etc as close to robot centre as possible
()()

If moment of inertia is high, stronger motor is required, -> bigger battery too!

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1.3 Robot weight ()

Question : Does a heavier mouse provides more acceleration (has more grip )? Question: ()? Force (Newton) = mass(kg) acceleration(m/s2)

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tire

FN = mass g g = 9.8 m/s2

Friction force = FN u u = coefficient of friction

Force available to propel the robot forward depends on motor power and friction force . If motor is powerful enough, then friction is the limiting factor ()

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 If motor exerts a force greater than friction force, tires will skid (). To prevent skidding, driving force < friction force

o Friction

= FN u = mass g u o Therefore acceleration limit = gu

o If u=0.7, then acceleration limit is about 7m/s2.

u = 0.7 7m/s2

Acceleration is independent of mass. Limited by tires.

Keep robot weight low -> reduce motor size -> reduce battery capacity.

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1.4 Robot wheel

Question : A bigger wheel or a smaller wheel? Tire friction is reduced by dirt () Clean tires before run A smaller wheel would need to rotate more times for the same distance o Pick up more dirt() o If maze if dirty, performance will be affected Bigger wheels raise the c.g. ()

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Lower c.g.

higher c.g.

Smaller wheel, lower c.g.

Bigger wheel, lower c.g.

Weight of wheels and shaft affect the robots c.g. Keep wheels & shaft as light as possible Use light and thin material if possible

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Hump or step

Hump or step

Big wheel will roll easily over steps or humps( )

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A bigger surface allows the wheel to ride over unevenness

Wider wheel will also be less affected by unevenness. ( ) On a flat and clean surface, tire diameter and width has negligible impact on performance. ( ) Too wide and its hard to turn
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1.5 Four wheel drive ?

acceleration c.g.

x
More weight Less weight

During acceleration, weight is transferred to back wheels ( ) During deceleration, weight is transferred to front wheels Good for straight acceleration/deceleration () Complex and hard to build () My dream mouse !!!

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1.6 Skid Pads

Skid pad (Teflon) Must be rocking 1mm

Wheels on floor

Wheels hanging in the air

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2.0 Sensors & Alignment

Diagonal sensor

Side sensor

transmitter

Front sensor

Figure: Mouse sensors layout

receiver
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shield
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2.1 Sensor circuit and operation

LeftFront side diagonal rightFront IR LED

Figure : Transmitter circuit diagram

Left and right front sensors pulsed separately to avoid interference

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Figure : Receiver circuit diagram

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Tx1 From Tx2 Rx1

Tx2

Rx2

Figure : Timing diagram of sensors signals()

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 IR LED
Pulsing allows higher current to swarm interference

() LED on < 10% of time only -> can stand higher current Pulsing minimize interference from neighbouring sensors Receiver should be less sensitive -> allows high transmitter output () Improve signal noise ratio

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2.2 Alignment
Lateral offset

Direction offset

Centre of cell

Longitudinal offset

Figure: Types of positional error

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LALIGN_SEN_VALUE

RALIGN_SEN_VALUE

if( (LALIGN_SEN_VALUE > laSenV3) && (RALIGN_SEN_VALUE < raSenV3)) { //Too left, adjust right alignSpeed= (LALIGN_SEN_VALUE - laSenV3)*maxAlignSpeed/laNearLeftRange ; } else if( (RALIGN_SEN_VALUE > raSenV3) && (LALIGN_SEN_VALUE < laSenV3) ) { // Too right, adjust left alignSpeed = -(RALIGN_SEN_VALUE - raSenV3)*maxAlignSpeed/raNearRightRange); }

Figure: Correcting direction & lateral offset with diagonal sensor

( 45 )
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Assumption : Lateral and angular offset is small.

Readjust position Threshold eve

Figure: Correcting longitudinal offset with pole detection

()

*Almost all turns are preceded by a pole to no-pole transisition

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Use front sensors to adjust position before turn

Start of turn

end of turn

Calibrate sensor here

Figure: Correcting longitudinal offset with front wall (exploration)

()
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Not use in diagonal run

Detect pole to adjust position()

Collision avoidance

Figure: Diagonal run. Collision avoidance and position adjustment

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3.0 Speed Profile

Rotational speed(wSpeed)

Translational speed (xSpeed)

leftWheelSpeed = xSpeed wSpeed; rightWheelSpeed = xSpeed + wSpeed;

Figure : Speed components of a 2 wheels robot

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3.1 Two basic speed profiles Translational speed

Speed (m/s) Top speed

Acceleration/ deceleration

end speed

Time(s)

Parameters Top speed Acceleration/deceleration End speed (= curve turn speed) Distance

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Rotational speed ()
Speed (deg/s) Top speed

Acceleration/ deceleration

Time(s)

3.2 Basic movements

Diagonal & non-diagonal straight runs (wSpeed=0) Pivot turns (xSpeed=0) () Curve turns 90, 180(U), 135(J), 45,V(xSpeed=constant, + wSpeed)

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90 degrees(x4)

45 degrees (x4)

180 degrees(x2)

135 degrees (x4)

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V turn (x2)

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Speed(m/s) Outer wheel end

start

Inner wheel

Time(s) Figure : Curve turn speed profile

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3.3 Profile generator and PD loop

Profile Generator

speed

error
+-

PWM PD - motor

encoder signals
Set topSpeed, endSpeed, acceleration, distance

Figure : Profile generator and PD loop

No integral term PD control & Profile generator is executed every msec PWM frequency is 10kHz PWM duty cycle = kp errorn + kd (errorn-errorn-1)
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3.4 Straight speed profile C code

// At the beginning of profile, targetSpeed = topSpeed; // Keep checking for deceleration condition void SpeedProfile() { decelerationRequired = (curSpeed2 endSpeed2)/(2distance); if (decelerationRequired>deceleration) targetSpeed = endSpeed; if (curSpeed<targetSpeed) curSpeed += acceleration; if (curSpeed>targetSpeed) curSpeed -= deceleration; distance += curSpeed; } distance - ; curSpeed -; endSpeed - ; acceleration - ; deceleration -

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Speed(m/s)

s1 d

Calculating deceleration: A+B = (S1t2)/2 B = S2(t2 - t1)/2 d = S1/t2 = S2/( t2 - t1) o t2 = S1/d o (t2 - t1) = S2/d A = (S1t2 )/2 -B = (S1t2)/2 - S2(t2 - t1)/2 = (S12- S22)/2d = (S12- S22)/2A

s2 A B t1 Figure : Speed profile t2 Time(s)

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3.5 PD loop and gyroscope

Straight xSpeed +Profile gen

xError

PD

+-

left L

(R+L)/2

Curve turn Profile gen

wSpeed

+-

wError

PD

right R

alignSpeed

(R-L)/2 or gyro

Figure : rotational and translation control loop

leftSpeed = xSpeed wSpeed; rightSpeed = xSpeed + wSpeed; xSpeed = (rightSpeed+leftSpeed)/2 wSpeed = (rightSpeed-leftSpeed)/2

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 Gyro is fast in response Accurate for fast curve turn (not for very slow turn) / opposite of optical encoder Need to calibrate before run due to DC drift ? Not affected by tires size change

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4.0 DC motor sizing

Speed (m/s) Maximum power

7 m/s2

7 m/s2

Time(s)

Step 1 : Calculate maximum power required Force(N) = mass(kg) acceleration(m/s2) = o Desired acceleration = 7 m/s2 // experience required
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 Force = 0.12kg 7m/s2 = 0.84N Power (W) = force(N) speed(m/s) ( = ) Maximum power is required when robot is accelerating at 7 m/s2 near top speed = 3m/s. Max power required = 0.84N3 m/s = 2.52 watt. Since there are 2 motors, power required per motor = 1.26 W. Step 2 : Select motor (Faulhaber 1717SR) Choose a motor with maximum Power 1.5 times to 2 times 1.26W = 1.89W to 2.52 W, Which is less than the Pmax of 1.96 W (Faulhaber 1717SR).

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 Note that I also overdrive the motor. 2x Lithium Polymer = 8.4V. Average around 7.8 volts Maximum power out at 7.8 V = (7.8/6)2 1.96 = 3.3 watts Step 3 : Select gear ratio Calculate torque and speed o Tires diameter is 24mm o Torque required = Forceradius ( = )

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= 0.84N 12mm = 10.08 mNm o Torque required per motor = 5.04mNm. o Wheel circumference = Pidiameter = 0.0754m o At 3m/s, wheel revolution = speed/circumference = 3/0.0754m = 39.8 rps = 2387 rpm Therefore, near top speed, motor must be able to provide torque output of 5.04mNm at speed of 2387 rpm.

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Speed rpm 14000 Max power 1.96W Speed (m/s)

7 m/s2

7 m/s2

Top speed 2387 rpm 5 10 15 Torque mNm

Accelerating 5.04mNm Figure : DC motor speed-torque characteristic

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Speed rpm 14000 Max power 1.96W

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1:1

Gear ratio 2:1

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7000 4667 Top speed 2387 rpm 5 10

3:1 15 Torque mNm

Accelerating 5.04mNm Figure : DC motor speed-torque characteristic

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 There is a range of gear ratio to select from The higher the gear ratio, the more energy efficient the motor is. Allows spare power for alignment

Prefer long & slim motors to short and fat motor. Lower c.g.

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4.1 DC motor driver

Pull up

MOSFET driver

motor driver

Figure : Min5 motor driver circuit

-Choose low turn-On resistance MOSFET -Pull up input to prevent conduction

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User interface
Need feedback to tell what the mouse is doing LED lights Sound Menu driven (dotmatrix display & input switch)

Websites
Visit my website at www.np.edu.sg/alpha/nbk (A* Pathfinding ) http://www.policyalmanac.org/games/aStarTutorial.htm (Nakashima website) http://homepage1.nifty.com/hfd01577/index.html (Pete Harrison) http://micromouse.cannock.ac.uk

Good Luck!

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