By :

Shyam Krishnan R, IEEE,Model engineering college

Basic Block diagram

Power supply

Sensors

Control logic

Indicators & displays

Driving mechanisms. Sensors. Control logic. Power supplies. Indicators and displays. Driving mechanism motors motors

Driving mechanism
Forward motion :

12V ML

12V MR

M1

M2

Boat
M3 M4

Motors In reveres mode

MX

Motors In off state Motors In on state

MX

MX

Right turn:

12V ML

0V MR

M1

M2

Boat
M3 M4

Motors In reveres mode

MX

Motors In off state Motors In on state

MX

MX

Left turn:

0V ML

12V MR

M1

M2

Boat
M3 M4

Motors In reveres mode

MX

Motors In off state Motors In on state

MX

MX

Stop :

0V ML

0V MR

M1

M2

Boat
M3 M4

Motors In reveres mode

MX

Motors In off state Motors In on state

MX

MX

Reverse motion :

-12V ML

-12V MR

M1

M2

Boat
M3 M4

Motors In reveres mode

MX

Motors In off state Motors In on state

MX

MX

Differential gearing concept

Right turn:

Control logic

ML

MR

M1

M2

Speed of ML > MR Boat

M3 M4

Motors In reveres mode Motors In off state

MX

MX

R
Motors In on state
MX

Left turn:

Control logic

ML

MR

M1

M2

Speed of ML < MR Boat

M3 M4

Motors In reveres mode Motors In off state

MX

MX

R
Motors In on state
MX

MG3 VCC 5V f or motor 2 1 U4 VCC 5V MOTOR DC 3 6 OUT1 11 OUT2 14 OUT3 OUT4 1 2 IN1 7 IN2 10 IN3 15 IN4 1 EN1 9 EN2 8 VS 16 VSS L293D GND GND GND GND

Control Logic
(H-bridge):
2

MG4

M1

M2

MOTOR DC

Supply voltage for motor Supply voltage for H-bridge

Motor 1 Enable

H-bridge

Motor 2 Enable

Motor 1 controls

A B A 0 0 1 1 B 0 1 0 1 operation stop F.W R.W stop

Motor 2 controls

A B

13 12 5 4

H-bridge operation:

VCC

GND

VCC

1 1

GND

VCC

1 1

GND

VCC

1 1

GND

VCC

1 1

GND

VCC

M + -

1 1

GND

VCC

0 1

GND

VCC

0 1

GND

VCC

0 1

GND

VCC

0 1

GND

VCC

M + 0 1

GND

H-bridge IC (L293D):
2

MG3 VCC 5V f or motor 1 U4 VCC 5V MOTOR DC 3 6 OUT1 11 OUT2 14 OUT3 OUT4 1 GND GND GND GND 13 12 5 4 2 IN1 7 IN2 10 IN3 15 IN4 1 EN1 9 EN2 8 VS 16 VSS L293D

MG4 2

MOTOR DC

 Two h-bridgs contained in single package.  600ma output current capability per channel. 1.2a peak output current (non repetitive) per channel.  Separate supply input for motor and H-bridge.

Speed Control (PWM method):

 PWM stands for pulse width modulation.  Width of the pulse is varied in accordance with modulating signal.

 Speed will be maximum when a pulse with 100% duty cycle wave is used,  Speed will be minimum when a pulse with 0% duty cycle wave is used,  Speed can be varied by varying the duty cycle of the pulse, (This pulse will be used to drive the enable signal in H-bridge) Differential gearing can be implemented by applying two pulses with different duty cycle to motor enable pins in h-bridge.

Controllers :

Sensors :
 IR Sensor :
VCC TSOP IR LED 1 2 3 VCC

To control logic
0

VCC 56E U5 7 5 4 6 2 8 DSCHG CV RST THR TRG VCC LM555 GND OUT 3

27K

3.9K

0.001uf

0.01uf

The TSOP will detect the IR light in a specific frequency. The astable multivibrator is designed to oscillate in the operating frequency of TSOP.

 Visible light Sensor :

VCC VCC 1K 10K 4 U14A

VCC

400E

3 1 + 2 LM324 11 15K LDR LED

VCC

 An op-amp operating in the comparator mode can be used to pick the voltage variations across the LDR. The voltage variations across the LDR is compared with a threshold level set by a voltage divider.

Line Followers

Control logic

Sensor array
M1 M2

 Always use odd sensor logic.

M3 M4

 Place sensors depends on the turning radius of the boat.  Reduce the speed if possible it will increase the stability.  Try to use IR sensors, they are more stable than visible light sensors and free from external noise.  Try to use differential gearing concept.

Sensor arrangement:

M1

M2

M1

M2

M1

M2

M3

M4

M3

M4

M3

M4

Front sensor arrangement

Middle sensor Arrangement

Rear sensor arrangement

 Any of the above can be chosen depending on the need.

Concept:

S1 0 1 1

S2 1 1 0 1 0 0

S3 0 0 0 1 1 0 F.W L.T L.T R.T R.T STOP

L
S1 S2 S3

0 0 0

S1 0 1 1 0 0 0

S2 1 1 0 1 0 0

S3 0 0 0 1 1 0 F.W L.T L.T R.T R.T STOP

R
S1 0 1 1 0 0 0 S2 1 1 0 1 0 0 S3 0 0 0 1 1 0 F.W L.T L.T R.T R.T STOP

S1 0 1 1 0 0 0

S2 1 1 0 1 0 0

S3 0 0 0 1 1 0 F.W L.T L.T R.T R.T STOP

S1 0 1 1 0 0 0

S2 1 1 0 1 0 0

S3 0 0 0 1 1 0 F.W L.T L.T R.T R.T STOP

S1 0 1 1 0 0 0

S2 1 1 0 1 0 0

S3 0 0 0 1 1 0 F.W L.T L.T R.T R.T STOP

VCC

VCC TSOP 1 2 3 IR LED

Circuit implementation :
0

VCC 56E U10 3 OUT DSCHG CV RST THR TRG VCC LM555 7 5 4 6 2 8

27K

GND

3.9K

0.01uf

0.001uf

0
VCC TSOP1 1 2 3 IR LED VCC

VCC 56E3 U11

0
3 OUT DSCHG CV RST THR TRG VCC LM555 2 1 U12 MOTOR DC 3 6 11 14 OUT1 OUT2 OUT3 OUT4 IN1 IN2 IN3 IN4 EN1 EN2 GND GND GND GND VS VSS L293D 2 7 10 15 1 9 8 16 1 2 3 4 5 6 7 8 21 22 23 24 25 26 27 28 30 29 VCC 12V VCC 5V 89S52 P1.0/T2 P1.1/T2X P1.2 P1.3 P1.4 P1.5 P1.6 P1.7 P2.0 P2.1 P2.2 P2.3 P2.4 P2.5 P2.6 P2.7 ALE/P PSEN GND 40 U9 VCC P0.0 P0.1 P0.2 P0.3 P0.4 P0.5 P0.6 P0.7 INT0 INT1 RD RXD T0 T1 TXD WR X1 X2 EA/VP RST 39 38 37 36 35 34 33 32 12 13 17 10 14 15 11 16 0.01uf 3 0.001uf 3 7 5 4 6 2 8

27K3

VCC 5V 10K RESISTOR MG5 1 GND

3.9K3

MG6 2 1

0
VCC TSOP2 1 2 3 IR LED VCC

MOTOR DC

13 12 5 4

VCC 56E4 U13

0
19 18 31 9 CAP Y3 RESISTOR 12MHz C6 33PF C5 33PF 0.01uf 4 0.001uf 4 1 10K1 3 VCC 1*10^-6 F1 s w5 RST GND OUT DSCHG CV RST THR TRG VCC LM555 7 5 4 6 2 8

27K4

20

3.9K4

SYSTEM DESIGN concepts

Steps involved in system design :  Step1 : Construct a block diagram of the system.  Step2 : List down the needed resources needed.  Step3 : List down the available resources.  Step4 : Do a rough Design.  Step5 : Compare the needed resources with available.  Step6 : Change the design so that the unavailable resources can be reduced ( or try to implement any alternate method).  Step7 : Simulate the design using EDA(Electronics design automation) tools.  Step8 : Physical implementation.  Step9 : Use printed circuit boards so that physical error can be reduced.

Example:
Automatic fault detection in street lights:

Detects the faults occurring in street lights and informs it in the central control station. Design : Step1 : Construction of Block diagram.
Display

Test zone

Test samples

Controllers

Step2 : Needed resources. 1. 2. Status of the every street lights should be checked continually, for that we need that much of I/O ports. Voltage synthesizers must be used to convert the test sample voltage to the controllers compactable level.

Step3 : Available resources. 1. 2. Comparators can be used to convert the test sample voltages to controller compactable level. Limited number of I/O ports are available in controllers.

Step4: Rough design. 1. 2. Controllers I/O ports are used to sample the status of the street lights. Controller continually checks it I/O ports if it found anything goes wrong it will display it.

Step5 : Compare the needed resources with available. 1. The controllers I/O ports will not be sufficient to sample all the test voltages,

Step6 : redesign to avoid the unavailable recourses .

Display

Test zone

Test samples

MUX

Controllers

Circuit implementation :

1 2

J2 J8 connector 1 2 3 4 5 6 7 8 9

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16

10

ONT

ST2

40

24

1*10^-6 F1 31 9

GN

GN

10 1 12 Hz 3 33PF

SISTO

20

12

sw4 ST

/ P ST

P Y2

4 33PF

19 18

X1 X2

L /P PS N

30 29

G 74150

X T0 T1 TX W

12 13 17 10 14 15 11 16

INT0 INT1

P2.0 P2.1 P2.2 P2.3 P2.4 P2.5 P2.6 P2.7

21 22 23 24 25 26 27 28

39 38 37 36 35 34 33 32

P0.0 P0.1 P0.2 P0.3 P0.4 P0.5 P0.6 P0.7

P1.0/T2 P1.1/T2X P1.2 P1.3 P1.4 P1.5 P1.6 P1.7

1 2 3 4 5 6 7 8

10

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

89S52

8 8 7 6 5 4 3 2 1 23 22 21 20 19 18 17 16 15 14 13 11 9 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16

ONN

J9





P LL

T 16

POW J4



S PPLY 5

    

Step7 : Simulation 1. Hardware simulation : PSpice, multisim, circuit maker, etc capture for schematic, layout plus for PCB,etc

1.

Software simulation : Keil, RIDE for 8051 family. MP lab, micr C for PIC.

ISP programmer for 89sxx family

J10 ANTENNA

J11 TWS 434 VCC J4 TWS 433

J8 ANTENNA

J2 LCD c onnec tor

VCC

16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1

4 3 2 1

1 2 3 4 5 6 7 8

10K CONTRAST1 VCC VCC

5V 5V 5V SW6 24 24 1 2 3 4 5 6 7 8 9 10 11 13 14 15 16 23 22 21 20 19 18 17 20 19 18 17 1 2 3 4 5 6 7 8 9 10 11 13 14 15 16 23 22 21

39 38 37 36 35 34 33 32 12 13 17 10 14 15 11 16 VCC 1*10^-6 F1 330K s 7 RST CAP Y2 10K1 RESISTOR 12MHz C3 33PF C4 33PF 19 18 31 9

40

U2

89S52 P1.0/T2 P1.1/T2X P1.2 P1.3 P1.4 P1.5 P1.6 P1.7 P2.0 P2.1 P2.2 P2.3 P2.4 P2.5 P2.6 P2.7 ALE/P PSEN GND 1 2 3 4 5 6 7 8 21 22 23 24 25 26 27 28 30 29

P0.0 P0.1 P0.2 P0.3 P0.4 P0.5 P0.6 P0.7 INT0 INT1 RD RXD T0 T1 TXD WR X1 X2

VCC

SW DIP-8 330K R4

GND

12

12

GND

20

18L4

18L4

VCC VCC 2 IR LED VCC 56E1 U6 7 5 4 6 2 8 3.9K1 DSCHG CV RST THR TRG VCC LM555 OUT 3 1 2 3 TSOP1

GND GND GND GND

13 12 5 4

27K1

GND

0.001uf 1

0.01uf 1 Size B

I1 O1 I2 O2 I3 O3 I4 O4 I5 I6 I7 HT640 I8 I9 I10 I11 I12 I13 I14 I15 I16 I17 I18

O1 O2 O3 O4

I1 I2 I3 I4 I5 I6 HT648 I7 I8 I9 I10 I11 I12 I13 I14 I15 I16 I17 I18

VCC

R3

EA/VP RST

VCC

MG3 VCC 5V f or motor 2 1 U4 VCC 5V MOTOR DC MG4 1 3 6 11 14 OUT1 OUT2 OUT3 OUT4 IN1 IN2 IN3 IN4 EN1 EN2 VS VSS L293D 2 7 10 15 1 9 8 16

MOTOR DC

Title SPEED GOVERNOR Document Number ARL4B Sunday , J une 27, 2010 Sheet 1 of 1 Rev

Date: