Rotating Turret Following Flower Assembly Final Presentation

1
Rotating Turret Following Flower AssemblyFinal
Presentation

• Michael Belger
• Jonathan Herkowski
• David Hudson

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Objectives

• A system was designed to rotate a turret shell
  with cannons using a gear train and motor. Two
  sensors were used to measure the angle of
  rotation needed in order to track a light and
  maintain the cannons in a position facing the
  light source.

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Original Mechanical System

• Turret Shell with built in Cannon
• Turret Base
• Electrical Motor (1)
• Gears (4)
• Gear Shafts (3)
• Nylon Bushings

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Changes to Mechanical System

• Scrap Turret Shell with built in cannon due to
  gearing difficulties and an offset center of mass
  due to oversized cannons
• Geared down using additional gears and posts
• Mounted a foam bar to simulate cannon mount

5
Electronic System

• (2) Sensors
• 40 Watt Lamp
• Handyboard

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Program Logic

• Main program initializes process for single motor
• Error in PID controller program is caused by
  light differences on the photocell pair
• Turret shell is turned by motors that are
  actuated to earn zero error
• All motors are set to zero power when the sensors
  read above twenty
• All processes and motor are killed once stop is
  pushed

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Flow Chart
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Kp Gain Tuning
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Ti Tuning (Kp 3)
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Td Tuning (Kp 3, Ti 50)
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Real Time

• Sampling Time 0.05 seconds

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System Response
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Conclusions and Recommendations

• System performs satisfactory considering time
  limitations and unexpected mechanical failures
• Use larger light source
• Less reliance on outsourcing
• Purchase more reliable equipment
• Better developmental planning

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Questions?
HUH?