T.

C DOKUZ EYLUL UNIVERSITY FACULTY OF ENGINEERING ELECTRICAL & ELECTRONIC ENGINEERING DEPARTMENT

TELEMETRY SYSTEM

REPORT for FUNDAMENTALS ROBOTICS TECHNICAL SELECTIVE COURSE

by
Özgür Mehmet DUMAN Ahmet Esat GENÇ

Advisor
Asst. Prof. Dr. Ahmet ÖZKURT

December,2010 IZMIR

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ABSTRACT

In this project, a system is created which realizes measuring of battery voltage, battery current and velocity of motor then transmits the data with RF communication between laptop and controlled device. This project is a Fundamental of Robotics Technical Selective Course of Dokuz Eylul University, Faculty of Engineering Electric Electronic Engineering Department.

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TABLE OF CONTENTS
Table of Contents

1. INRODUCTION 2. METHODOLOGY 2.1 Microcontrollers
2.1.1 2.1.2 2.1.3 2.1.4 2.1.5

4 5

Voltage Measuring Current Measuring Velocity Measuring Communication Display LCD Screen

6 7 9 10 11

3. WORK PLAN 4. CONCLUSION 5. REFERENCES 6. APPENDIX 6.1 Codes 6.2 Data Sheet

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1. INTRODUCTION
Telemetry is explained remote observing and data logging of devices by wireless communication or static line connection of devices. In sector usage of telemetry systems are wireless sensor lines, remote system control, energy counters, security systems, automation of home and factory, logistic support systems [1] and observing data of solar car. This project is the first step of creating prototype for Solaris Solar Car Team telemetry systems. Solar car races are endurance events; the focus is efficiency and reliability. For example, the Global Green Challenge is a five-day event in which teams cross the entire continent of Australia from north to south. Solar cars are driven from 8:00 a.m. to 5:00p.m., with the few extra daylight hours used to recharge the onboard batteries. As a result, these vehicles must also be fast and reliable. Numerous tests and simulations help calculate reliability, while close monitoring systems determines efficiency [2]. A solar car¶s monitoring system measures the voltage, current of essential components and velocity of car. Power limitations restrict the instrumentation in a solar car, so the monitoring system continuously transmits data to support vehicle. Those dat are then a analyzed and used in planning race strategy [2].

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2. METHODOLOGY

2.1 Microcontroller
Microcontrollers are the most popular electronic devices for simple use and cheap. So anyone, who is interesting in electronic, can learn use. A lot of microcontroller types are designed due to necessity. But all of them have RAM, ROM and I/O ports in same small package.

Figure 1: Pin diagram of 16f877

In project microcontroller provides taking current data from external hall effect sensor, voltage data by voltage divider circuit and velocity data with light sensor on device¶s wheel then transmits the data with RF transmitter. In addition firstly this communication is realized Rs 232 serial port communication and monitoring Matlab Gui All experiments are simulated Proteus 7.1 simulation program and C codes are compiled by PICC compiler. 16F877 microcontroller is loaded with program Brenner 8 pic programmer US-BurnV 1.3 user interface.

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2.1.1

Voltage Reading

Figure2:Voltage level controller

Dc supply was used instead of battery supply in project for learning usage.16f877 has 10 bit ADC hardware so it has 0.0048V resolution of quantization. When pic is supplied by 5V and battery voltage is 100V, if 100kohm and 5kohm voltage divider circuit is used in voltage reading process analog input of microcontroller is 4,76V.

Figure 3: Proteus simulation

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2.1.2

Current Reading

Hall effect sensor, shunt resistance sensor and current sensor calibration experiment was realized to define coefficient of current voltage converting because pic can read only analog voltage values.

Figure 4: Ugn3503 Hall effect sensor calibration Hall effect sensor create voltages due to magnetic field changing because current of wire on toroid.
H all E ffect S ensor 3. 1

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2. 9 V oltage(V )

2. 8

2. 7

2. 6

2. 5

0

0. 5

1

1. 5 C urrent(A )

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2. 5

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This data show that while current is changing 0.3A, approximately Vout changes 60mV. Iin(A) Vout(V) 0 0.3 0.6 0.9 1.2 1.5 1.8 2.1 2.4 2.7 3.0 3.3

2.44 2.50 2.55 2.62 2.67 2.73 2.78 2.84 2.90 2.95 3.1 3.7

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Figure 5 F.w. Bell current sensor calibration Current sensor is supplied -15V and +15V and a wire pass through it, it provides unnecessary to cut the wire.
C urrent-O utput V oltage C haracteristic 160 140 120 O utput V oltage (m V ) 100 80 60 40 20 0

0

0.5 C urrent A

1

1.5

In this test 3.55Ohm rock resistance are connected end of the wire which through sensor so all Vin values are must be divided 3.55, graphic was created after this process. 1mA changing creates 1mV changing. This sensor more sensitive other one, but extra hardware must be required to supply it (7815 for +15V and 7915 for -15V supplying).

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Shunt resistor was not tested because its coefficient 1A/1mV, analog input resolution of 16f877 is 4.8mV (10bit A/D 5Volt/210=4.8mV) so 4.8A changing effects least significant bit changing. It¶s not sensitive. But pic18FXXX series has 12bit A/D, the sensor can be useful with these pic series.

2.1.3 Velocity Measuring
Tachometers usually are used for velocity measuring. Principles of measuring, light reflection changing from motor surface, so we used cny70 reflective optical sensor to count circulation. This sensor usually is used line following robots but it can be used for our prototype circuit although it is not sensitive for high speed circulation.

Figure 6 :Cny70 Reflective optical sensor application.

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We simulated this application on Proteus simulation program, pushing button was used instead of motor. Interrupts are created to provide round per minute measurement by pic timer pins.

Figure 7: Measuring pushing button per second.

2.1.4 Rs232 Serial Communication

Figure 8: RS232 communication application.

[3]

Data logging and observing are realized between microcontroller and Rs 232 serial port communication in PICC¶s Siow interface. In addition Microsoft Hiperterminal program provides same monitoring. rs232(baud=9600, xmit=PIN_C6, rcv=PIN_C7, parity=N, stop=1)

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2.1.5 Display LCD Screen
Telemetry circuit shows all data on lcd screen to drive strategy adjusting by driver. We tried to combine all studies for displaying. Firstly we simulated it in proteus then realized. Voltage measuring by voltage divider, current measuring on low value resistor and velocity of sinusoidal signal are simulated and displayed at per 0.1second on lcd display.

Figure 9: Lcd simulation.

Figure 10: Realization lcd diplay application

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3. WORK PLAN

4. CONCLUSION
All weekends we worked but exams terms caused not to suit our work plan. Rf communication wasn¶t realized.

We develop RS232 serial communication knowledge although Matlab com4 errors. We couldn¶t combine all sensors on same pcb but simulated on Proteus simulation. We waste too many times on broken sensors how to work and wrong connection. The project is not resulted. We plan to finish the project between exam term and half semester if it is allowed.

5. REFERENCES 1. Telemetri Sistemleri San.Tic.A. . Product Catalogue, 2009 2. McCarthy,L.,Pieper, J.,Wu,C.H.,´Performance Monitoring in UMR¶s Solar Car´,2000 3. http://320volt.com/rs232-seri-portun-pic-mikro-denetleyiciler-ile-kullanimi/

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6. APPENDIX 6.1 Codes of Pic and Matlab 6.1.1 Voltage Reading
#include <16f877.h> #device ADC=10 #fuses HS,NOWDT,NOPROTECT #use delay(clock=20000000) #use fast_io(b) #use fast_io(a)

6.1.2 Current Reading
#include <16f877.h> #device ADC=10 #fuses HS,NOWDT,NOPROTECT #use delay(clock=20000000) #use fast_io(b) #use fast_io(a)

unsigned long int bilgi; float voltaj; void main ( ) {set_tris_b(0x00); set_tris_a(0x0F); output_b(0x00);

unsigned long int bilgi; float voltaj,akim; void main ( ) {set_tris_b(0x00); // set_tris_a(0x0F); // output_b(0x00); setup_adc(adc_clock_INTERNAL); setup_adc_ports(ALL_ANALOG); while(1) { set_adc_channel(1); delay_us(50); bilgi=read_adc(); voltaj=0.0048828*bilgi; akim=voltaj;

setup_adc(adc_clock_INTERNAL); setup_adc_ports(ALL_ANALOG); while(1) { set_adc_channel(1); delay_us(50); bilgi=read_adc(); voltaj=0.00488296*bilgi; if (voltaj<2) { output_b(0x00); delay_ms(500); } else output_high(pin_b0); delay_ms(500); output_low(pin_b0); delay_ms(500); { } } }

if (akim>0.006) { output_high(pin_b0); delay_ms(500); } else output_high(pin_b1); delay_ms(500); output_low(pin_b1); delay_ms(500); { } } }

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6.1.3 RS 232 Serial communication
#include <16F877.h> #fuses HS,NOWDT,NOPROTECT #use delay(clock=20000000) %% MatlaB code for external %% Rs232 Communication clear all;clc; s = serial('COM4'); fopen(s); #use fast_io(a) #use fast_io(b) #byte port_b = 6 //portb nin ramdeki yeri #use rs232(baud=9600, xmit=PIN_C6, rcv=PIN_C7, parity=N, stop=1) //#use rs232(baud=9600, xmit=PIN_B1, rcv void main() { printf("calisiyor«\n\r"); while (TRUE) { printf("a"); } } data=zeros(5,16,'double'); for i=1:9 data=fscanf(s,'%d'); mtrx(i,1)=(data(1,i)*1); end fclose(s)

6.1.4 Matlab Gui

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