Difference between revisions of "HANcoder/Training Material/Highwaysurfer"
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The HAN-AR have two model based development tools, HANcoder and HANtune, that they would like to promote. In order to do this a new demonstration model was required. This is what the project team '''Highway Surfer''' has created. The model will showcase the abilities of the tools and will act as an eye catcher at tech fairs and conferences that the HAN-AR attends. With the help of this document people who are interested in recreating this project or start their own projects will be able to see what the steps involved are, the materials required and the capabilities of the tools, [[HANcoder]] and [[HANtune]]. | The HAN-AR have two model based development tools, HANcoder and HANtune, that they would like to promote. In order to do this a new demonstration model was required. This is what the project team '''Highway Surfer''' has created. The model will showcase the abilities of the tools and will act as an eye catcher at tech fairs and conferences that the HAN-AR attends. With the help of this document people who are interested in recreating this project or start their own projects will be able to see what the steps involved are, the materials required and the capabilities of the tools, [[HANcoder]] and [[HANtune]]. | ||
− | This project was started with the help | + | This project was started with the help a template. This template can be downloaded from the following link: |
− | + | * [[file:System_Design.docx]] | |
+ | |||
+ | |||
+ | On this wikipage, you can find the building process for the mechanical parts, the wiring and other processes for the electronics, and the logic for building the software algorithm. To make it easy for the consumer, we have an easy to understand order list with relevant links. | ||
==Materials Required== | ==Materials Required== | ||
Line 17: | Line 20: | ||
Local hardware store: | Local hardware store: | ||
− | * 5.5 [mm] multiplex | + | :* 5.5 [mm] multiplex |
− | * Aluminum L-profile 20X20 [mm] | + | :* Aluminum L-profile 20X20 [mm] |
− | * Bolts, nuts | + | :* Bolts, nuts |
− | * PVC tube (80mm diameter x 1m length) | + | :* PVC tube (80mm diameter x 1m length) |
− | * Grip material for the PVC tubes | + | :* Grip material for the PVC tubes |
− | * Conveyor belt | + | :* Conveyor belt |
− | * Axes | + | :* Axes |
− | * End pieces’ roll (wood) | + | :* End pieces’ roll (wood) |
Online webshop: | Online webshop: | ||
− | * [https://www.conrad.nl/nl/reely-rc-auto-kogellager-chroomstaal-binnendiameter-10-mm-buitendiameter-22-mm-toerental-max-34000-omwmin-295469.html Bearings] | + | :* [https://www.conrad.nl/nl/reely-rc-auto-kogellager-chroomstaal-binnendiameter-10-mm-buitendiameter-22-mm-toerental-max-34000-omwmin-295469.html Bearings] |
− | * Gears/pullies and belts, for the drivetrain and lane change mechanism: | + | :* Gears/pullies and belts, for the drivetrain and lane change mechanism: |
− | ::* [https://www.conrad.nl/nl/reely-aluminium-tandriemschijf-boordiameter-6-mm-diameter-38-mm-aantal-tanden-40-209516.html Drivetrain Pully 209516] | + | :::* [https://www.conrad.nl/nl/reely-aluminium-tandriemschijf-boordiameter-6-mm-diameter-38-mm-aantal-tanden-40-209516.html Drivetrain Pully 209516] |
− | ::* [https://www.conrad.nl/nl/reely-distributieketting-buitenomvang-420-mm-aantal-tanden-168-209525.html?customer-switch Drivetrain belt] | + | :::* [https://www.conrad.nl/nl/reely-distributieketting-buitenomvang-420-mm-aantal-tanden-168-209525.html?customer-switch Drivetrain belt] |
− | ::* [http://www.stappenmotor.nl/Stappenmotor/tandriem%20wiel%20poelie/tandriem%20wiel%20poelie.htm 2x Tooth wheel with spline: '''5M-20-10-12'''] | + | :::* [http://www.stappenmotor.nl/Stappenmotor/tandriem%20wiel%20poelie/tandriem%20wiel%20poelie.htm 2x Tooth wheel with spline: '''5M-20-10-12'''] |
− | ::* [http://www.stappenmotor.nl/Stappenmotor/tandriem/tandriem.htm Timing belt lane change mechanism (LCM) toothed belt htd 5m (10 mm wide): '''5M-900-10'''] | + | :::* [http://www.stappenmotor.nl/Stappenmotor/tandriem/tandriem.htm Timing belt lane change mechanism (LCM) toothed belt htd 5m (10 mm wide): '''5M-900-10'''] |
===Electrical=== | ===Electrical=== | ||
Online webshop: | Online webshop: | ||
− | * [https://www.olimex.com/Products/Duino/STM32/OLIMEXINO-STM32/ Olimexino STM-32 board] | + | :* [https://www.olimex.com/Products/Duino/STM32/OLIMEXINO-STM32/ Olimexino STM-32 board] |
− | * [https://www.antratek.nl/easydriver-stepper-motor-driver Stepper motor-driver] | + | :* [https://www.antratek.nl/easydriver-stepper-motor-driver Stepper motor-driver] |
− | * [https://www.antratek.nl/ardumoto-motor-driver-shield Ardumoto - Motor Driver Shield] | + | :* [https://www.antratek.nl/ardumoto-motor-driver-shield Ardumoto - Motor Driver Shield] |
− | * [http://nl.farnell.com/xp-power/vcs50us12/psu-low-cost-cased-50w-12v-4-2a/dp/1821458 Transformer] | + | :* [http://nl.farnell.com/xp-power/vcs50us12/psu-low-cost-cased-50w-12v-4-2a/dp/1821458 Transformer] |
− | * [https://www.conrad.nl/nl/spanningsregelaar-lineair-type-78-on-semiconductor-mc7805ct-to-220ab-positief-vast-5-v-1-a-175030.html Transistor 7805] | + | :* [https://www.conrad.nl/nl/spanningsregelaar-lineair-type-78-on-semiconductor-mc7805ct-to-220ab-positief-vast-5-v-1-a-175030.html Transistor 7805] |
− | * [https://www.conrad.nl/nl/laagspannings-connector-stekker-recht-55-mm-735912.html Female power connector for Olimexino] | + | :* [https://www.conrad.nl/nl/laagspannings-connector-stekker-recht-55-mm-735912.html Female power connector for Olimexino] |
− | * [https://www.conrad.nl/nl/klemschroefblok-150-mm-aantal-polen-2-dg301-50-02p-12-degson-blauw-1-stuks-731091.html?sc.ref=Search%20Results 6x Screw terminal block 1.50 [mm²]] | + | :* [https://www.conrad.nl/nl/klemschroefblok-150-mm-aantal-polen-2-dg301-50-02p-12-degson-blauw-1-stuks-731091.html?sc.ref=Search%20Results 6x Screw terminal block 1.50 [mm²]] |
− | * [https://www.conrad.nl/nl/bourns-mf-rht200-0-ptc-zekering-drempelstroom-ih-2-a-16-v-l-x-b-x-h-216-x-94-x-3-mm-1-stuks-1055672.html Mini fuse 2 [A]] | + | :* [https://www.conrad.nl/nl/bourns-mf-rht200-0-ptc-zekering-drempelstroom-ih-2-a-16-v-l-x-b-x-h-216-x-94-x-3-mm-1-stuks-1055672.html Mini fuse 2 [A]] |
− | * [https://www.conrad.nl/nl/eska-lp30-500f-ptc-zekering-drempelstroom-ih-5-a-30-v-l-x-b-x-h-144-x-30-x-356-mm-1-stuks-525059.html Mini fuse 5 [A]] | + | :* [https://www.conrad.nl/nl/eska-lp30-500f-ptc-zekering-drempelstroom-ih-5-a-30-v-l-x-b-x-h-144-x-30-x-356-mm-1-stuks-525059.html Mini fuse 5 [A]] |
− | * [https://www.conrad.nl/nl/royalohm-mf0w4ff1002a50-metaalfilmweerstand-10-k-axiaal-bedraad-0207-025-w-1-stuks-1089968.html Resistor 10 [KO]] | + | :* [https://www.conrad.nl/nl/royalohm-mf0w4ff1002a50-metaalfilmweerstand-10-k-axiaal-bedraad-0207-025-w-1-stuks-1089968.html Resistor 10 [KO]] |
− | * [https://www.conrad.nl/nl/royalohm-mf0w4ff1001a50-metaalfilmweerstand-1-k-axiaal-bedraad-0207-025-w-1-stuks-1089862.html Resistor 1 [KO]] | + | :* [https://www.conrad.nl/nl/royalohm-mf0w4ff1001a50-metaalfilmweerstand-1-k-axiaal-bedraad-0207-025-w-1-stuks-1089862.html Resistor 1 [KO]] |
− | * [http://www.example.com Capacitor 0.33 [µF]] | + | :* [http://www.example.com Capacitor 0.33 [µF]] |
− | * [https://www.conrad.nl/nl/elektrolytische-condensator-radiaal-bedraad-15-mm-47-f-25-v-20-o-x-h-4-mm-x-7-mm-teapo-kss475m025s1a5b07k-1-stuks-1325873.html Capacitor 4,7 [µF]] | + | :* [https://www.conrad.nl/nl/elektrolytische-condensator-radiaal-bedraad-15-mm-47-f-25-v-20-o-x-h-4-mm-x-7-mm-teapo-kss475m025s1a5b07k-1-stuks-1325873.html Capacitor 4,7 [µF]] |
− | * [https://www.conrad.nl/nl/elektrolytische-condensator-radiaal-bedraad-2-mm-22-f-16-v-20-o-x-h-5-mm-x-11-mm-teapo-kse226m016s1abc11k-1-stuks-1328827.html Capacitor 22 [µF]] | + | :* [https://www.conrad.nl/nl/elektrolytische-condensator-radiaal-bedraad-2-mm-22-f-16-v-20-o-x-h-5-mm-x-11-mm-teapo-kse226m016s1abc11k-1-stuks-1328827.html Capacitor 22 [µF]] |
− | * [https://www.conrad.nl/nl/panjit-1n4746a-g-zenerdiode-behuizingssoort-halfgeleider-do-41g-zenerspanning-18-v-1305028.html Zener diode 18 [V]] | + | :* [https://www.conrad.nl/nl/panjit-1n4746a-g-zenerdiode-behuizingssoort-halfgeleider-do-41g-zenerspanning-18-v-1305028.html Zener diode 18 [V]] |
− | * Wall socket (220 ~ 230 [V]) | + | :* Wall socket (220 ~ 230 [V]) |
===Sensors=== | ===Sensors=== | ||
− | * [https://www.antratek.com/ultrasonic-sensor-hc-sr04 3x ultrasonic sensor] | + | :* [https://www.antratek.com/ultrasonic-sensor-hc-sr04 3x ultrasonic sensor] |
− | * [https://www.conrad.nl/nl/vishay-precisiepotmeter-10-slagen-mono-2-w-10-k-1-stuks-429309.html 1x potentiometer] | + | :* [https://www.conrad.nl/nl/vishay-precisiepotmeter-10-slagen-mono-2-w-10-k-1-stuks-429309.html 1x potentiometer] |
− | * [http://www.jfetech.nl/epages/080402.sf/nl_NL/?ObjectPath=/Shops/080402/Products/1x VRsensor] | + | :* [http://www.jfetech.nl/epages/080402.sf/nl_NL/?ObjectPath=/Shops/080402/Products/1x VRsensor] |
===Actuators=== | ===Actuators=== | ||
− | * [https://www.antratek.nl/stepper-motor-nema-16-form-factor Stepper motor] | + | :* [https://www.antratek.nl/stepper-motor-nema-16-form-factor Stepper motor] |
− | * [https://www.conrad.nl/nl/modelcraft-ig320100-41c01-transmissiemotor-12-v-1001-234349.html?sc.ref=Search%20Results E-motor with gear ratio 100:1] | + | :* [https://www.conrad.nl/nl/modelcraft-ig320100-41c01-transmissiemotor-12-v-1001-234349.html?sc.ref=Search%20Results E-motor with gear ratio 100:1] |
− | * [https://www.conrad.nl/nl/sci-r13-28f-01-tuimelschakelaar-250-vac-10-a-2x-uitaan-vergrendelend-1-stuks-701026.html Toggle switch] | + | :* [https://www.conrad.nl/nl/sci-r13-28f-01-tuimelschakelaar-250-vac-10-a-2x-uitaan-vergrendelend-1-stuks-701026.html Toggle switch] |
===Software=== | ===Software=== | ||
− | * [https://nl.mathworks.com/products/simulink.html MatLab-Simulink] | + | :* [https://nl.mathworks.com/products/simulink.html MatLab-Simulink] |
− | * HANcoder | + | :* HANcoder |
− | * HANtune | + | :* HANtune |
HANcoder and HANtune are available at [http://openmbd.com/ OpenMBD]. (On the website is a download manual for all the software.) | HANcoder and HANtune are available at [http://openmbd.com/ OpenMBD]. (On the website is a download manual for all the software.) | ||
Line 80: | Line 83: | ||
To build the housing of the conveyor belt you need following items: | To build the housing of the conveyor belt you need following items: | ||
− | * 3x multiplex plates of 1220x610mm with a thickness of 5,5 [mm]. | + | :* 3x multiplex plates of 1220x610mm with a thickness of 5,5 [mm]. |
− | * Blueprints of the individual panels for the dimensions. | + | :* Blueprints of the individual panels for the dimensions. |
− | * Saw or something to cut the wood. | + | :* Saw or something to cut the wood. |
− | * Bolts(m5) | + | :* Bolts(m5) |
− | * L-profile(3000x20x20 [mm]) | + | :* L-profile(3000x20x20 [mm]) |
− | * Measuring tape | + | :* Measuring tape |
− | * Wood drill | + | :* Wood drill |
====Cutting==== | ====Cutting==== | ||
Line 97: | Line 100: | ||
====L-profile’s and drilling==== | ====L-profile’s and drilling==== | ||
The following L-profiles need to be cut [[file:L_profile.jpg|250px|right|Figure 4]] | The following L-profiles need to be cut [[file:L_profile.jpg|250px|right|Figure 4]] | ||
− | * 2x540mm 5 holes per plane | + | :* 2x540mm 5 holes per plane |
− | * 4x100mm 2 holes per plane | + | :* 4x100mm 2 holes per plane |
− | * 2x460mm 3 holes per plane | + | :* 2x460mm 3 holes per plane |
− | * 10x50mm 2 holes per plane | + | :* 10x50mm 2 holes per plane |
Some holes need to be drilled in the L-profiles to match the bolts, for this DEMO 5mm. Be aware that the holes in the two planes are not on top of each other, see figure 4. | Some holes need to be drilled in the L-profiles to match the bolts, for this DEMO 5mm. Be aware that the holes in the two planes are not on top of each other, see figure 4. | ||
Line 126: | Line 129: | ||
To build the rollers the following parts are needed: | To build the rollers the following parts are needed: | ||
− | * PVC pipe Ø 80 [mm] | + | :* PVC pipe Ø 80 [mm] |
− | * Threaded rod M10 for axles ~ 600 [mm] | + | :* Threaded rod M10 for axles ~ 600 [mm] |
− | * Wood ~ 40 mm thick enough for 4 blocks | + | :* Wood ~ 40 mm thick enough for 4 blocks |
− | * Bearings 2x: inner-Ø 10mm, outer-Ø 22mm | + | :* Bearings 2x: inner-Ø 10mm, outer-Ø 22mm |
− | * Tooth wheel (powered side), ABS-ring (tension side). | + | :* Tooth wheel (powered side), ABS-ring (tension side). |
− | * Some strips of rubbery material (EPDM) the get the friction needed for the belt. | + | :* Some strips of rubbery material (EPDM) the get the friction needed for the belt. |
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===Conveyor belt=== | ===Conveyor belt=== | ||
Items needed: | Items needed: | ||
− | * 1500*450 [mm] strong and bendable fiber (this demo: 80%PVC and 20% polyester) | + | :* 1500*450 [mm] strong and bendable fiber (this demo: 80%PVC and 20% polyester) |
− | * Thread and a needle or a sewing mill | + | :* Thread and a needle or a sewing mill |
Test fit the conveyor belt around the rollers which are placed at a minimum width. | Test fit the conveyor belt around the rollers which are placed at a minimum width. | ||
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====Housing==== | ====Housing==== | ||
The housing assembly for the bridge has the same procedure as the conveyor belt box. On the front panel of the bridge, the ultrasonic sensors are mounted. Extra parts needed are: | The housing assembly for the bridge has the same procedure as the conveyor belt box. On the front panel of the bridge, the ultrasonic sensors are mounted. Extra parts needed are: | ||
− | + | :* 500x50 sheet metal bracket for the 3 ultrasonic sensors | |
− | + | :* 2x piano-hinge (for easy excess to the lane change mechanism) | |
− | + | :* Toggle switch | |
=====''Ultrasonic sensor setup''===== | =====''Ultrasonic sensor setup''===== | ||
Line 166: | Line 169: | ||
=====''Lane change mechanism''===== | =====''Lane change mechanism''===== | ||
Within the bridge the lane change mechanism located. To create this, you need the following items: | Within the bridge the lane change mechanism located. To create this, you need the following items: | ||
− | + | :* Wooden bracket to hold everything together | |
− | + | :* 20x20 aluminum profile | |
− | + | :* M5 screws and nuts | |
− | + | :* Step motor | |
− | + | :* Toothed belt 5m (10 mm wide) | |
− | + | :* 2x Tooth wheel with spline | |
− | + | :* 2x custom bushings | |
− | + | :* Potentiometer | |
− | + | :* 2x Threaded bushing | |
− | + | :* Link from bike chain. | |
− | + | :* 4x m4 screws and nuts | |
− | + | :* Wire rod | |
− | + | :* Model car | |
====Assembling==== | ====Assembling==== | ||
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====Rotation speed sensor==== | ====Rotation speed sensor==== | ||
The output of the rotation sensor is a sinus signal, but in combination with the interface chip it will be a block signal. With the 'timer input get' block out of the HANcoder library it is possible to get the frequency out of the block signal. If you multiply the frequency by: 2*Pi*0.04*1/44 it will give the speed of the roll as an input for the algorithm. | The output of the rotation sensor is a sinus signal, but in combination with the interface chip it will be a block signal. With the 'timer input get' block out of the HANcoder library it is possible to get the frequency out of the block signal. If you multiply the frequency by: 2*Pi*0.04*1/44 it will give the speed of the roll as an input for the algorithm. | ||
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Revision as of 13:45, 31 May 2017
Introduction
The HAN-AR have two model based development tools, HANcoder and HANtune, that they would like to promote. In order to do this a new demonstration model was required. This is what the project team Highway Surfer has created. The model will showcase the abilities of the tools and will act as an eye catcher at tech fairs and conferences that the HAN-AR attends. With the help of this document people who are interested in recreating this project or start their own projects will be able to see what the steps involved are, the materials required and the capabilities of the tools, HANcoder and HANtune.
This project was started with the help a template. This template can be downloaded from the following link:
On this wikipage, you can find the building process for the mechanical parts, the wiring and other processes for the electronics, and the logic for building the software algorithm. To make it easy for the consumer, we have an easy to understand order list with relevant links.
Materials Required
In the Appendix, a detailed order list has been attached. However, a simple list is added in each subchapter to tender to specific parts.
Hardware parts
Local hardware store:
- 5.5 [mm] multiplex
- Aluminum L-profile 20X20 [mm]
- Bolts, nuts
- PVC tube (80mm diameter x 1m length)
- Grip material for the PVC tubes
- Conveyor belt
- Axes
- End pieces’ roll (wood)
Online webshop:
- Bearings
- Gears/pullies and belts, for the drivetrain and lane change mechanism:
Electrical
Online webshop:
- Olimexino STM-32 board
- Stepper motor-driver
- Ardumoto - Motor Driver Shield
- Transformer
- Transistor 7805
- Female power connector for Olimexino
- 6x Screw terminal block 1.50 [mm²]
- Mini fuse 2 [A]
- Mini fuse 5 [A]
- Resistor 10 [KO]
- Resistor 1 [KO]
- Capacitor 0.33 [µF]
- Capacitor 4,7 [µF]
- Capacitor 22 [µF]
- Zener diode 18 [V]
- Wall socket (220 ~ 230 [V])
Sensors
Actuators
Software
- MatLab-Simulink
- HANcoder
- HANtune
HANcoder and HANtune are available at OpenMBD. (On the website is a download manual for all the software.)
Mechanical
For the mechanical design the dimensions can be found in the CAD 2D drawings, which can be downloaded from the website [link here]. When all the parts are cut, they can be assembled. In the exploded views in this document the exact order of assembly is explained.
Conveyor belt base
Housing
To build the housing of the conveyor belt you need following items:
- 3x multiplex plates of 1220x610mm with a thickness of 5,5 [mm].
- Blueprints of the individual panels for the dimensions.
- Saw or something to cut the wood.
- Bolts(m5)
- L-profile(3000x20x20 [mm])
- Measuring tape
- Wood drill
Cutting
To get the right dimensions for this DEMO a LaserPro X500 was used which can be seen in figure 1.
The Solid Works drawings of all the wooden parts are send to a device that runs 'Corel Draw X8' which can be seen in figure 2.
The process can be seen in Figure 3. We chose this option to get a cleaner finish. Of course, there are other ways to get the panels to the right dimensions.
L-profile’s and drilling
The following L-profiles need to be cut- 2x540mm 5 holes per plane
- 4x100mm 2 holes per plane
- 2x460mm 3 holes per plane
- 10x50mm 2 holes per plane
Some holes need to be drilled in the L-profiles to match the bolts, for this DEMO 5mm. Be aware that the holes in the two planes are not on top of each other, see figure 4.
Assembling
Place the plates with the L-profile against each other and mark the holes.
Do not forget witch L-profile you use, every profile is slightly different even with the best measurements.
Continue by drilling the marked holes in the wood and assemble the parts with bolts and nuts. Start from the bottom and work all the way up.