Its the showtime!!

Alhamdulillah everything has settled and syukur the presentation has been done as what i wish for. Madam Naszariah and Sir Syazwan who access me being very nice and I manage to answer all of their question with confidence. They look very impressed and hopefully the result given will be as impressed as their face expression :p 

Poster designed for presentation

# final report timeeeeeee

Preparing for presentation day

Since both software and hardware has been done, now is the best time to do a preparation since the presentation day is just around the corner. It is needed to have extra research and searching for some journal as a prove to support the fact in front of the accessor.

I can feel the pressure and hopefully will have the best accessor.And thanks God the accessor for this semester will not be the same lecturer as previous..hahaha

 

Search for something and end with Facebook..arghh!! hehehe

Hardware settle! pheww (+_+)

Alhamdulillah..The assembling for hardware is now fully completed. It's time for testing and obtaining the results for the desired angle and its suitable PID's value combination.

 

Function of main components for hardware:

Reset button: to reset the microcontroller

Push button: to run the circuit

L293D: act as motor driver

LM7805 voltage regulator: supply 5V for PIC

Preset: adjust the P,I,D value

Slide switch: turn ON or OFF the circuit

Potentiometer: Adjust the angle

Motor connector: connector for motor and potentiometer

 

 

Software Progress

During this week, I have met up with advisor, Mdm zaridah to get some help regarding the simulink design and theory behind the system design. From the meeting, there are some changes about the system modelling and the physical parameters for the motor.

Before this, there is a subsystem for the PID controller and since transfer function block is not needed, so the subsystem has been replaced with a PID controller block. The changes is shown in figure below:

The physical parameters use for the motor are:

R= 2.7 Ω

L= 0.004 H

Ke=0.105 Vs rad-1

Kt= 0.105 Nm A-1

J= 0.0001 Kg m2

B= 0.0000093 Nms rad

Hardware Progress

The process of etching,drilling and soldering have been completed without motor yet.

Front View

  

\

View from back

Etching & Drilling

The etching process was done manually. I had done this before during my diploma program. It is really helpful. Manual step for etching process:

1- Clean the PCB Board

2- Print the PCB layout on a piece of paper

3- Iron the printing circuit on PCB Board

4- Cut the PCB Board with required size

Use FERRIC CHLORIDE Liquid

Final step: Clean the PCB Board using Thinner liquid

50% software 60% Hardware

The designing of PCB layout has been done and will continue with the etching process by this weekend. Pheww it  is hard to minimize the number of jumper. The completed PCB layout design is shown below.

Oh before I forget, the combination of PID controller with speed and position control has been combined and the result is as shown below:

p/s: i am more worry about the software rather than hardware..oh madam help me!! (+_+)

Refreshing mood

Since the software and hardware development are in progress and still not complete yet, I take this week to take a look and understand more about the theoretical part. The most important thing behind this project is:

• The proportianal controller  (Kp) will have the effect of reducing the rise time and will reduce but never eliminate the steady state error. 
• An integral control (Ki) will have the effect of eliminating the steady state error, but it may make the transient respond worse.
• A derivative control (Kd) will have the effect of increasing the stability of system, reducing the overshoot and improving the transient respond.

Effect of the each of the controller Kp,Ki,Kd on a closed loop system are summarize in table shown below.

Creating Circuit & PCB Design

This week (week 6) will focus on hardware development.Referring to the references provided by madam and a number of website, I prefer to use Proteus software but if there is any problem occur, Protel could be the best option. OK gonna do it now!! ;-)  

Back from semester break!

Holiday with lotsss of assesment..sigh! What i had done during the semester break is shown below. 

Completed design the speed control based on mathwork. The final design should look like the example shown in the figure above.

In order to save all of these components as a single subsystem block, first select all of the blocks, then select Create Subsystem from the Edit menu

First Trial of GUI

Haha a very2 simple GUI. It is acceptable rite since this is my first time creating GUI.hewhew (+_+). A lot of things must be improved. I am still learning on how to create the motor animation. 

It is quite challenge  but with plenty of time remain InsyaAllah  this will complete as planned during FYP1 on time. Once finished, the results should appear as in the following figure.

p/s: semester break will be on next week.But there's no time to relax SYED!! 

Designing The PID Controller

My first try designing the PID controller using matlab. The result was referring to the tutorial in mathworks and some video on Youtube. The plant is not adjusted yet and I am still in process of learning The PID tuning.

#There should be a gain and integrator i guess in this system huh? alamak research2 ;-)

Component Arrived!!

After waiting for around two week, the component purchased is already in my hand. According to the plan, lets try the simple one first. I am looking to complete the construction and soldering by week 9 or late by week 10.

Mathwork Lesson

Starting the first week of s1'2013 with learning and understanding the matlab and simulink through mathwork.com. This website provide various tutorial and videos on how to build the control modelling systems.