Demonstration Servo Motor

1
Demonstration Servo Motor

• Amy Conaway
• Erick Haro

2
Mechanical Design

• Approach
• 4 stationary aluminum core electromagnets
• 2 permanent magnets
• Status
• -key components are built
• -electromagnets are in the process of being wound

Optical Encoder
Permanent Magnets
Bearing
Rotational Platform
Electromagnets
3
Electrical Design

• Approach digital signal passed through opamps
  and push-pull transistors to variably control
  electromagnet current
• optical encoder and three emitter detector pairs
  provide control feedback
• - Position count, direction, and start index
  monitored by emitter detector pairs
• LEDs indicating electromagnet polarity enhance
  demonstration learning
• Status specific chips and resistor gain
  Possible Optical Encoder
• are being put on hold until electromagnet
• strength is determined
• - emitter detector pair circuitry created and
• working with encoder
• - basic electromagnet current amplification
• thought out
• - electromagnet signals need to be unified
• and controlled
• - hardware needs to be interfaced to software

4
Software Design

• Approach 1 feedback system using optical
  encoder
• - signal would be based on encoder input and PID
  control
• Approach 2 pre-calculated coding
• - signal is determined through series of nested
  IF statements and predetermined signal counts
• Status code skeleton needs to be created and
  evaluated to determine software approach

5
Questions for the Audience

• Which control approach should we take?...feedback
  vs. computational
• What is the best way to simultaneously control
  the 4 electromagnets?