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Stepper Motor Control


STEPPER MOTOR CONTROL USING BLUETOOTH CONCEPT

Project work submitted in Partial fulfillment of the requirements for the award of

Bachelor of Engineering in Electrical & Electronics Engineering by Anna University

By J. MADHAN Reg. No. 02E18

Under the Guidance of Mr. M. SARAVANAN, M.E., Associate professor EEE Department

Department of Electrical & Electronics Engineering

Thiagarajar College of Engineering (An Autonomous Institution Affiliated to Anna University)

Madurai - 625015 April - 2007

THIAGARAJAR COLLEGE OF ENGINEERING

(An Autonomous Institution Affiliated to Anna University) Madurai - 625015

Certificate

This is to certify that the project work entitled STEPPER MOTOR CONTROL USING BLUETOOTH CONCEPT submitted by J.MADHAN (02E18) in partial fulfillment of the requirement for the award of bachelor of Engineering in Electrical & Electronics by Anna University is a record of bonafide work carried out during academic year 2007

GUIDE HEAD OF THE DEPARTMENT

Submitted for VIVA VOCE examination held at Thiagarajar College of Engineering, Madurai on ______________.

Internal Examiner H.D.E.E External Examiner

ACKNOWLEDGEMENT

We express our deep sense of gratitude and indebtedness to Mr.M.SARAVANAN, Associate professor of Electrical Engineering Department, for his inspiring guidance and continuous encouragement, which has enabled us to complete this project.

We express our sincere thanks to Dr.Mary Raja Slochanal.Ph.D., Head of the Electrical Department, for his valuable advice and support.

We are grateful to Dr.P.KANNAN, professor Dean (Student Affairs) of Electrical Department for his energetic encouragement.

We are pleased to convey our sincere thanks to our Principal Dr.V.ABHAIKUMAR for providing us excellent facilities for carrying out our project.

Also, we would like to thank all our parents, teacher, friends and well wishers who have helped us during the course of this project.

ABSTRACT

The main objective of this project is to control stepper motor using blue tooth concept, (i.e. by wireless communication). The main advantage of this project is to overcome the line of sight operation in IR transmitter, thus we can operate this bluetooth transmitter in omni-direction. These equipments can be controlled within a distance of about 100ft. Bluetooth was designed to provide short range, low cost, low power radio connections. In opting for a microwave based radio system instead of an infrared system, Bluetooth devices do not require a direct line of sight to communicate giving it a significant advantage over IR based competitors. It allows short distance digital data communication. Here we use the unlicensed 433.92MHZ Industrial, Scientific and Medical (ISM) band that may be used freely worldwide.

TABLE OF CONTENTS

CHAPTER NO. TITLE PAGE NO ABSTARCT 4 INTRODUCTION 6 1 TRANSMITTER SECTION 1.1 BLOCK DIAGRAM 7 1.2 ENCODER 8 1.3 TRANSMITTER MODULE 10 1.4 TRANSMITTER CIRCUIT 13 2. RECEIVER SECTION 2.1 BLOCK DIAGRAM 15 2.2 RECEIVER MODULE 16 2.3 DECODER 18 2.4 RECEIVER CIRCUIT 21 3. MICROCONTOLLER AT89C51 23 4. POWER DEVICES 4.1 ULN 2803 34 4.2 POWER SUPPLY 36 4.3 MOSFET DRIVER 40 4.4 STEPPER MOTOR 42 5. MODULATION 44 5.1 APPLICATIONS 45 6. PROGRAM 46 7. CONCLUSION 50 BIBLIOGRAPHY 51

INTRODUCTION: The word Bluetooth stands for Wireless Omni-directional Communication. In our project using RF signal to control the Stepper Motor. Such that its clockwise, anti-Clockwise direction, slow speed and half-step Control. The secured code is transmitted through carrier wave (433.92 MHZ) by using transmitter module. The datas can send at the bit-rate of (2400 BPS). At the transmitter side encoder (HT12E) is used to generate the operation code, this operation code is sent to transmitter module. Transmitter module operating at 433.92MHZ transmits the data through OOK modulation. At the receiver side by using receiver module the operation code is received. AT89C51 micro controller decodes the received datas. This project simply helps us to control steeper motor in remote location within 100ft with the use of a bluetooth device. There is no need of mobile phones for bluetooth and instead we use a separate bluetooth transmitter & receiver. We use radio frequency in the range of 433.92MHZ for transmitting & receiving signals. The major advantage of our project is to overcome the line of sight operation in IR transmitter, thus we can operate this bluetooth transmitter in any direction i.e., no need line of sight operation and also works even behind any obstacle. There will be more efficient and reliable transmission while using bluetooth technology than IR.

CHAPTER - 1

1.1 TANSMITTER BLOCK DIAGRAM

ANTENNA 5V 5V

KEKE

GND GND

figure 1.1.1 shows block diagram of transmitter section

KEY PAD It consists of four keys to control the speed of the stepper motor that is to control its: 1. Clock-wise direction. 2. Anticlock-wise direction.

3. Slow-speed & 4. Half step. 1.2 ENCODER HT12E: FEATURE o Operating voltage is 2.4 to 12v. o Built in oscillator needs only 5% resistance. o Data code has positive polarity. o Minimum external components. o 18 pin DIP package. 5V ANTENNA

figure 1.2.1 shows the transmitter operation diagram

DESCRIPTION:

Figure 1.1.1 & 1.1.2 shows the transmitter block and operation diagram. The 212 encoder for remote control system applications. They are capable of encoding information, which consists of N address bits and 12 -N data bits. Each address / data input can be set to one of the two logic states. The programmed addresses / data are transmitted together with the header bits via an RF or an infrared transmission medium upon receipt of a trigger signal. The capability to select a TE trigger on the HT12E.

PIN DETAILS:

A0 1 VDD VDD A1 DOUT

A2 OSC1

A3 OSC2

A4 TE

A5 D3

A6 D2

A7 D1

VSS D0

Figure 1.2.2 shows pin details of Encoder-HT12E

Table 1.2.1 shows PIN DESCRIPTION:

PIN NAME DESCRIPTION AO TO A7 Input pins for address A0 to A7 setting these pins can be externally set to VSS or left open D0 TO D3 Input pins for data D0 to D3 setting and transmission enable Active low these pins can be externally set to VSS or left open TE For the HT12E encoders transmission is enabled by applying A low signal to the TE pin. DOUT Encoder data serial transmission output

1.3 WIRELESS TRANSMITTER MODULE -433.92MHZ

FEATURES

o Complete RF transmitter module no external components and no tuning required.

o Interface directly to encoders and microcontrollers with easy.

o Low power consumption suitable for battery operated devices.

o 4-pin compact size module

o Can be directly interfaced to PCB

o Designed with SMD components

o High performance SAW based architecture with a maximum range of 100 feet at 4800bps data rate

Figure 1.3.1 shows TRANSMITTER DIMENSIONS

Figure 1.3.2 shows TRANSMITTER MODULE

Table1.3.1 shows PIN DETAILS

PIN 1 RF OUT PIN 2 DATA IN

PIN 3 GROUND PIN 4 VCC

Table 1.3.2 shows SPECIFICATION

PARAMETER MINIMUM TYPICAL RANGE UNITS Voltage 2.7 3 5.2v DC Supply current 5 5.5 mA Stand by current 3 uA Output power into 50 ohms -2 0 0 dBm Overall frequency accuracy -250 250 KHZ Operating temp. range 0 70 Deg cel Operating frequency 433.67 433.92 433.17 MHZ Max.data rate 2400 Bps

Modulation: OOK Modulation.

R4

Figure 1.4.1 shows the circuit diagram of transmitter section

TRANSMITTER OPERATION:

Figure 1.4.1 shows the circuit diagram of transmitter section. The Encoder Encodes the key values connected to the inputs (D0, D1, D2, D3). Encoder also has 8 address bits, which corresponds 00 to FFh values that is 256 combination of address are possible. This address is used to select the Rx & TX pair. Whenever any one of the switches connected to the data input is pressed, the ground signal reaches the TE pin thereby enabling Transmission. The encoder IC outputs 8 address bits&4 Data bits (12 bits) along with the proprietary Codes. To ON / OFF a particular direction of stepper motor at remote distance we have to press the corresponding switch provided in lower row. When we press a switch it will generate an interrupt to the microcontroller and then microcontroller generates an CMOS signal at the output port for the corresponding input interrupt signal. The microcontroller can only generate output signal in CMOS logic but this cannot be used for digital transmission. These Codes are sent out via the data out pin of the encoder IC. These data is fed to the data in input of the Transmitter Module. Then the digital signal is modulated in the 433.92MHz transmitter and transmitted through the antenna. The antenna is a simple narrow band radio wave antenna. The Transmitter Module Operating at 433.92MHZ (ISM Band) transmits the data using OOK Modulation.

CHAPTER-2

2.1 RECEIVER BLOCK DIAGRAM

5V ANTENNA

5V 5V 12V

GND GND GND

GND STEPPER MOTOR

Figure2.1.1 shows block diagram of receiver section

2.2 WIRELESS RECEIVER MODULE -433.92MHZ

FEATURE

o Complete super-regenerative RF receiver module operating at 433.92MHZ.

o Easy to integrate with decoders and microcontrollers directly.

o 6 pin Compact size module.

o Designed with SMD components.

o Can be directly interfaced to PCB

figure 2.2.1 shows RECEIVER DIMENSIONS

figure 2.2.2 shows RECEIVER MODULE

Table 2.2.1 shows PIN DETAILS

PIN 1 GROUND PIN 2 DATA OUT PIN 3 LINEAR OUTPUT PIN 4 VCC PIN 5 VCC PIN 6 GROUND PIN 7 GROUND PIN 8 ANTENNA RF INPUT

Table 2.2.2 shows SPECFICATION

PARAMETER RANGE UNITS Operating frequency 433.92 MHZ Operating voltage 5v DC Current 2.7 mA Data rate 2400 Bps Bandwidth 4 MHZ

2.3 DECODER-HT12D FEATURE o Operating voltage is 2.4 to 12v. o Address / data number combination is 8-bit address and 4-bit data. o Built in oscillator needs only 5% resistor. o Valid transmission indicator. o Easy to interface with RF module.

PIN DETAILS: A0 VDD A1 VT A2 OSC1 A3 OSC2 A4 DIN A5 D3

A6 D2

A7 D1

VSS D0

figure 2.3.1 shows pin details of Decoder- HT12D

Table 2.3.1 shows PIN DESCRIPTION:

PIN NAME DESCRIPTION A0 TO A7 Input pins for address A0 to A7 setting these pins can be externally set to VSS or VDD. D0 TO D3 Data output pins. VT Valid transmission is high. DIN Serial data input pin.

ANTENNA

figure 2.3.2 shows the operation diagram of receiver

DESCRIPTION:

Figure 2.3.1 & 2.3.2 shows the pin details and operation diagram of decoder. The 212 decoders are used in serial communication for remote control system application. They paired with holtek 212 series of encoders (refer to the encoder / encoder cross reference table). For proper operation a pair of encoder / decoder with the same number of addresses and data should be chosen. The decoder receives the serial addresses and data from programmed 212 series of encoders that are transmitted by a carrier using an RF transmission medium. It will compare the serial input data three times continuous with their local addresses. If no error signal or unmatched codes are found, the input data are decoded and then transferred to the output pins. The VT pin also goes high indicating a valid transmission. The 212 series of decoders are capable of decoding information that consists of N bits of address and 12-N bits of data.

1 2 3 4

R= (4* 3.3K) 3 39 38 37 36

(4* LED)

figure 2.4.1 shows the circuit diagram of receiver section

RECEIVER OPERATION:

Figure 2.4.1 shows the circuit diagram of receiver section. The Receiver Module is pre-tuned for 433.92Mhz in compatible with the Transmitter Module. The Receiver receives the data transmitted by any of the transmitter operating at that frequency. The received data is sent out through the data out pin to the data in pin of the decoder IC. The Decoder IC receives the 12-bits of data containing 8 address & 4 data bits, if the address bits values set in the decoder matches with that of the Received signal, then only the data bits are decoded and given out through the data out pin (D0-D3). Simultaneously the VT pin is also yield high indicating the reception of Valid Transmission. If the valid transmission is received then the Micro-Controller inputs the data and, analysis the data depending upon the data the Micro-controller takes the Suitable action and gives output which interns Energize the Stepper Motor Coils with the help of MOSFET Driver circuit. MOSFET Driver consists of Opto-coupler corresponding to each stepper motor coil. The Opto-coupler is used for Opto-isolation. High current &high Voltage requirements of the stepper motor are met by using a MOSFET to improve the Torque of stepper Motor.

CHAPTER-3

MICROCONTROLLER INTRODUCTION TO MICROCONTROLLER: The past three decades have seen the introduction of a technology that has radically changed the way in which we analyze and control the world around us. Born of parallel development in computer architecture and integrated circuit fabrication, the microprocessor first became a commercial reality in 1971 with the introduction of the 4-bit microcontroller 4004 by the Intel Corporation.

MICROCONTROLLER VS GENERAL PURPOSE MICROPROCESSOR Microprocessor, it is meant the general-purpose microprocessors such as Intels X86 family (8086,80186,80286,80386,80486 and Pentium) or Motorolas 680x0 family (68000,69010,68020,68040, etc.). This microprocessor does not contain memories (RAM, ROM) and I/O ports on the chip itself. For this reason, they are commonly referred to as general-purpose microprocessor. The prime use of a microprocessor is to read data perform extensive calculation on that data and store those data in a mass storage device and to display the results. The program used by the microprocessor are stored in mass storage device and loaded into RAM as user directs. The design of microprocessor is driven by the desire to make it as expandable as mush as possible, in the expectation of commercial success.

Like the microprocessor, the microcontroller is a general-purpose device, but one that is meant to read data, performs limited calculation on that data and control its environment based on those calculations. The prime use of a microcontroller is to control the operation of a machine using a fixed program that is stored in ROM and that does not change over the lifetime of the system. The microcontroller has in-built (RAM, ROM, parallel I/O, serial I/O, counters, timers, clock circuits and converter.) and other peripheral into the microcontroller.

MICROCONTOLLER FOR EMBEDDED SYSTEM: Microprocessor and microcontroller are widely used in embedded system products. An embedded product uses a microprocessor or microcontroller to do one and only task at a time. A printer is an example of embedded system since the processor inside it performs one task only: namely getting the data and printing it. In an embedded system there is only one application software that is typically burned into ROM. An x86 PC contains or is connect to various embedded products such as the keyboard, printer, modem, disk controller, sound card, CD-ROM driver, mouse and so on. Each one of these peripherals has microcontroller inside is that performs only one task. For example inside mouse there is a microcontroller to find the mouse position and sending it to the PC.

ATMEL 89C51 Micro controller

Description: The AT89C51 is a low-power, high-performance CMOS 8-bit microcomputer with 4Kbytes of Flash Programmable and Erasable Read Only Memory (PEROM). The device is manufactured using Atmels high-density nonvolatile memory technology and is compatible with the industry standard MCS-51 instruction set and pin out. The on-chip Flash allows the program memory to be reprogrammed insystem or by a conventional nonvolatile memory programmer. By combining a versatile 8-bit CPU with Flash on a monolithic chip, the Atmel AT89C51 is a powerful microcomputer, which provides a highly flexible and cost effective solution to many embedded control applications.

FEATURES: o Compatible with MCS-51 Products.

o 4K Bytes of In-system Reprogrammable Flash Memory.

o Endurance 1,000 Write/Erase Cycles.

o Fully Static Operation: 0 Hz to 24 MHz.

o Three-Level Program Memory Lock.

o 128 x 8-Bit Internal RAM.

o 32 Programmable I/O Lines.

o Two 16-Bit Timer/Counters.

o Six Interrupt Sources.

o Programmable Serial Channel

o Low Power Idle and Power Down Modes.

PIN DETAILS:

Fig 3.1 shows Pin diagram of 89C51

Fig3.2 shows Architecture of AT89C51 Micro controller

Pin Description:

The AT89C51 provides the following standard features: 4K bytes of Flash, 128 bytes of RAM, 32 I/O lines, two 16-bit timer/counters, five vector two-level interrupt architecture, a full duplex serial port, and on-chip oscillator and clock circuitry. In addition, the AT89C51 is designed with static logic for operation down to zero frequency and supports two software selectable power saving modes. The Idle Mode stops the CPU while allowing the RAM, timer/counters, serial port and interrupt system to continue functioning. The Power Down Mode saves the RAM contents but freezes the oscillator disabling all other chip functions until the next hardware reset. Pin Description Port 0 Port 0 is an 8-bit open drain bi-directional I/O port. As an output port each pin can sink eight TransistorTransistor Logic (TTL) inputs. When 1s are written to port 0 pins, the pins can be used as high impedance inputs. Port 0 may also be configured to be the multiplexed low order address/data bus during accesses to external program and data memory. In this mode P0 has internal pull-ups. Port 1 Port 1 is an 8-bit bi-directional I/O port with internal pull-ups. The Port 1 output buffers can sink/source four TTL inputs When 1s are written to Port 1 pins they are pulled high by the internal pull-ups and can be used as inputs. As inputs, Port 1 pins that are externally being pulled low will source the current because of the internal pull-ups. Port 1 also receives the low-order address bytes during Flash programming and verification.

Port 2 Port 2 is an 8-bit bi-directional I/O port with internal pull-ups. The Port 2 output buffers can sink/source four TTL inputs. When 1s are written to Port 2 pins they are pulled high by the internal pull-ups and can be used as inputs. As inputs, Port 2 pins that are externally being pulled low will source current because of the internal pull-ups. Port 2 emits the high-order address byte during fetches from external program memory and during accesses to external data memory that uses 16-bit addresses (MOVX @ DPTR). In this application it uses strong internal pull-ups when emitting 1s. During accesses to external data memory that uses 8-bit addresses (MOVX @ RI), Port 2 emits the contents of the P2 Special Function Register. Port 2 also receives the high-order address bits and some control signals during Flash programming and verification.

Port 3 Port 3 is an 8-bit bi-directional I/O port with internal pull-ups. The Port 3 output buffers can sink/source four TTL inputs. When 1s are written to Port 3 pins they are pulled high by the internal pull-ups and can be used as inputs. As inputs, Port 3 pins that are externally being pulled low will source current because of the pull-ups. Port 3 also serves the functions of various special features of the AT89C51 as listed below: Port 3 also receives some control signals for Flash programming and verification.

RST Reset input. A high on this pin for two machine cycles while the oscillator is running resets the device.

ALE Address Latch Enable (ALE) output pulse - for latching the low byte of the address during accesses to external memory. This pin is also the program pulse input during Flash programming. In normal operation ALE is emitted at a constant rate of 1/6 the oscillator frequency, and may be used for external timing or clocking purposes AT89C51 When the AT89C51 is executing code from external program memory, PSEN is activated twice each machine cycle, except that two PSEN activations are skipped during each access to external data memory. EA/VPP

External Access Enable. EA must be strapped to GND in order to enable the device to fetch code from external program memory locations starting at 0000H up to FFFFH.

CRYSTAL1 (XTAL1) Input to the inverting oscillator amplifier and input to the internal clock operating circuit. CRYSTAL2 (XTAL2) Output from the inverting oscillator amplifier.

Oscillator Characteristics XTAL1 and XTAL2 are the input and output, respectively, of an inverting amplifier, which can be configured for use as an on-chip oscillator. Either a quartz crystal or ceramic resonator may be used. To drive the device from an external clock source, XTAL2 should be left unconnected while XTAL1 is driven.

Idle Mode In idle mode, the CPU puts itself to sleep while all the on chip peripherals remain active. The mode is invoked by software. The content of the on-chip Random Access Memory (RAM) and all the special functions registers remain unchanged during this mode. It should be noted that when idle is terminated by a hard ware reset, the device normally resumes program execution, from where it left off, up to two machine cycles before the internal reset algorithm takes control. On-chip hardware inhibits access to internal RAM in this event, but access to the port pins is not inhibited. Power down Mode In the power down mode the oscillator is stopped, and the instruction that invokes power down is the last instruction executed. The on-chip RAM and Special Function Registers (SFR) retain their values until the power down mode is terminated. The only exit from power down is a hardware reset. Reset redefines the SFRs but does not change the on-chip RAM. The reset should not be activated before Vcc is restored to its normal operating level and must be held active long enough to allow the oscillator to restart and stabilize.

Program Memory Lock Bits On the chip there are three lock bits, which can be, left un programmed (U) or can be programmed (P) to obtain the additional features. When lock bit 1 is programmed, the logic level at the EA pin is sampled and latched during reset. If the device is powered up without a reset, the latch initializes to a random value, and holds that value until

reset is activated. It is necessary that the latched value of EA be in agreement with the current logic level at that pin in order for the device to function properly.

Programming the Flash: The AT89C51 is normally shipped with the on-chip Flash memory array in the erased state (that is, contents = FFH) and ready to be programmed. The programming interface accepts either a high-voltage (12-volt) or a low-voltage (Vcc) program enable signal. The low voltage-programming mode provides a convenient way to program the AT89C51 inside the users system, while the high-voltage programming mode is compatible with conventional third party Flash or EPROM programmers.

Data Polling: The AT89C51 features Data Polling to indicate the end of a write cycle. During a write cycle, an attempted read of the last byte written will result in the complement of the written datum on P0.7. Once the write cycle has been completed, true data are valid on all outputs, and the next cycle may begin. Data Polling may begin any time after a write cycle has been initiated.

Ready/Busy (RDY/BSY): The progress of byte programming can also be monitored by the RDY/BSY output signal. P3.4 is pulled low after ALE goes high during programming to indicate BUSY. P3.4 is pulled high again when programming is done to indicate READY. Program Verify: If lock bits LB1 and LB2 have not been programmed, the programmed code data can be read back via the address and data lines for verification. The lock bits cannot be verified directly. Verification of the lock bits is achieved by observing that their features are enabled. Chip Erase: The entire Flash array is erased electrically by using the proper combination of control signals and by holding ALE low for 10 ms. The code array is written with all 1s. The chip erase operation must be executed before the code memory can be re-programmed. Reading the Signature Bytes: The signature bytes are read by the same procedure as a normal verification of locations 030H, 031H, and 032H, except that P3.6 and P3.7 must be pulled to logic low. The values returned are as follows. (030H) = 1EH indicates manufactured by Atmel (031H) = 51H indicates 89C51

(032H) = FFH indicates 12V programming (032H) = 05H indicates 5V programming

CHAPTER-4

4.1 ULN 2803:

Featuring continuous load current ratings to 500 mA for each of the drivers, the Series ULN28xxA/LW and ULQ28xxA/LW high-voltage, high-current Darlington arrays are ideally suited for interfacing between low-level logic circuitry and multiple peripheral power loads. Typical power loads totaling over 260 W (350 mA x 8, 95 V) can be controlled at an appropriate duty cycle depending on ambient temperature and number of drivers turned ON simultaneously. Typical loads include relays, solenoids, stepping motors, magnetic print hammers, multiplexed LED and incandescent displays, and heaters. All devices feature open-collector outputs with integral clamp diodes. The ULx2803A/LW and ULx2804A/LW are the standard Darlington arrays. The outputs are capable of sinking 500 mA and will withstand at least 50 V in the OFF state. Outputs may be paralleled for higher load current capability. The ULx2823A/LW and ULx2824A/ LW will withstand 95 V in the OFF state. These Darlington arrays are furnished in 18-pin dual in-line plastic packages (suffix A) or 18-lead small-outline plastic packages (suffix LW). All devices are pinned with outputs opposite inputs to facilitate ease of circuit board layout. Prefix ULN devices are rated for operation over the temperature range of -20C to +85C.

fig 4.1.1 shows the Pin Details of ULN-2803

FEATURES:

o TTL, DTL, PMOS, or CMOS Compatible Inputs o Output Current to 500 mA o Output Voltage to 95 V o Transient-Protected Outputs o Dual In-Line Package or Wide-Body Small-Outline Package

DEVICE PART NUMBER DESIGNATION

VCE(MAX) 50 V 95 V IC(MAX) 500 mA 500 mA Logic Part Number 5V ULN2803A* ULN2823A* TTL, CMOS ULN2803LW* ULN2823LW

ABSOLUTE MAXIMUM RATINGS:

Output Voltage, VCE: (X2803x) .................. .50 V Input Voltage, VIN ............................. .30 V Continuous Output Current, IC..500 mA Continuous Input Current, IIN ..25 mA Power Dissipation, PD: (one Darlington pair) .................. ..1.0 W Operating Temperature Range, TA

Prefix ULN .............-20C to + 85C Storage Temperature Range: TS ..............................-55C to +150C

4.2 POWER SUPPLY: The present chapter introduces the operation of power supply circuits built using filters, rectifiers, and then voltage regulators. Starting with an ac voltage, a steady dc voltage is obtained by rectifying the ac voltage, then filtering to a dc level, and finally, regulating to obtained by rectifying the ac voltage, then filtering to a dc level, and finally regulating to obtain a desired fixed dc voltage. The regulation is usually obtained from an IC voltage regulator unit. Which takes a dc voltage and provides a somewhat lower dc voltage, which remains the same even if the input dc voltage varies, or output load connected to the dc voltage changes.

figure 4.2.1 A block diagram containing the parts of a typical power supply and the voltage at various points in the unit is shown in fig 2.1. The ac voltage, typically 120 Vrms., is connected to a transformer, which steps that ac voltage down to the level for the desired dc output. A diode rectifier then provides a full-wave rectified voltage by a simple capacitor filter to produce a dc voltage.

This resulting dc voltage usually has some ripple or ac voltage variation. A regulator circuit can use this dc input to provide a dc voltage that not only has much less ripple voltage but also remains the same dc value even if the input dc voltage varies somewhat, or the load connected to the output dc voltage changes. This regulator regulation is usually obtained using one of a number of popular voltage regulator IC units. THREE-TERMINAL VOLTAGE REGULATORS: Fig shows the basic connection of a three-terminal voltage regulator IC to a load. The fixed voltage regulator has an unregulated dc input voltage, vi , applied to one input terminal, with the third terminal connected to ground. For a selected regulator, IC device specification list a voltage range over which the input voltage can vary to maintain a regulator output voltage over a range of load current. The specifications also list the amount of output voltage change resulting from a change in load current or in

input voltage (line regulation). The series 78 regulators provide fixed regulated voltage from 5 to 24 V. Figure2.2 shows how one such IC, a 7812, is connected to provide voltage regulation with output from this unit of +12V dc. An unregulated input voltage Vi is filtered by capacitor C1 and connected to the ICs IN terminal. The ICs OUT terminal provides a regulated +12V that is filtered by capacitor C2 (mostly for any high- frequency noise). The third IC terminal is connected to ground (GND) while the input voltage may vary.

figure 4.2.2 The series 78 regulators provide fixed regulated voltage from 5 to 24 V. Figure19.26 shows how one such IC, a 7812, is connected to provide voltage regulation with output from this unit of +12V dc. An unregulated input voltage Vi is filtered by capacitor C1 and connected to the ICs IN terminal. The ICs OUT terminal provides a regulated +12Vwhich is filtered by capacitor C2 (mostly for any high- frequency noise). The third IC terminal is connected to ground (GND). While the input voltage may vary over some permissible voltage range, and the output load may vary over some acceptable range, the output voltage remains constant within specified voltage variation limits. These limitations are spelled out in the manufacturers specification sheets. A table of positive voltage regulated ICs are provided in table 4.2.1.

TABLE 4.2.1 POSITIVE VOLTAGE REGULATORS IN 7800 SERIES IC PART Output Voltage Vo (V) Minimum Vi (V) 7805 +5 7.3

CIRCUIT DIAGRAM: POWER SUPPLY: The power supply is one of the important area of any electronic circuitry and often the most neglected area also. Unregulated power supplies or noisy power supplies may pose unexpected problems and unforeseen results. Hence it is highly necessary for a good power supply for our circuit.

figure 4.2.3

The 0-12 VAC / 750 mA step-down transformer, steps down the 230 VAC mains into 12 VAC supply. The bridge rectifier (comprising 4 x 1N4007 diodes) converts the AC into DC. However, this DC is unregulated and full of ripples. For smoothing the ripples, a 1000 uF / 25V capacitor is used. The IC 7805 converts the unregulated, smoothed DC into 5V-regulated DC. This regulated output is again filtered by the 1 uF / 16V capacitors.

4.3 MOSFET DRIVER -IRFZ44:

MCT 2E 220ohms

C B IN4007 10K D G MOSFET OPTO COUPLER S 10K

figure 4.3.1 shows the circuit for MOSFET driver MCT 2E OPTOCOUPLER: Similarly 4 pairs of optocoupler are used to drive 4 coils of stepper motor. MOSFET Driver consists of one optocoupler (MCT 2E) and a MOSFET corresponding to each stepper motor coil. The optocoupler is used for opto-isolation. The high current & high voltage requirement of the stepper motor was met by using a MOSFET, which is

used to improve the high starting torque of stepper motor.

FEATURES:

o Avalanche Rugged Technology o Rugged Gate Oxide Technology o Lower Input Capacitance o Improved Gate Charge o Extended Safe Operating Area o 175C Operating Temperature o Lower Leakage Current: 10mA (Max.) @ VDS = 60V o Lower RDS(ON): 0.020W (Typ.)

ABSOLUTE MAXIMUM RATINGS:

1.Gate 2. Drain 3. Source VDSS Drain-to-Source Voltage..60 V Continuous Drain Current (TC=25C)50 A Continuous Drain Current (TC=100C) .35.4 IDM Drain Current-Pulsed (1)200 A VGS Gate-to-Source Voltage..20 V EAS Single Pulsed Avalanche Energy (2).. 857 mJ IAR Avalanche Current (1)..50 A EAR Repetitive Avalanche Energy (1)12.6 mJ Peak Diode Recovery dv/dt (3)5.5 V/ns Storage Temperature Range-55 to +175 C

4.4 STEPPER MOTOR: DESIGN CONSIDERATIONS: The electrical compatibility between the motor and the driver are the most critical factors in a stepper motor system design. Here we are using Hybrid stepper motor for controlling its operation.

HYBRID MOTOR: Hybrid motors combine the best characteristics of the variable reluctance and permanent magnet motors. They are constructed with multi-toothed stator poles and a permanent magnet rotor. Standard hybrid motors have 200 rotor teeth and rotate at 1.80 step angles. Other hybrid motors are available in 0.9, 3.6 and 7.5 step angle configurations. Because they exhibit high static and dynamic torque and run at very high step rates, hybrid motors are used in a wide variety of industrial applications.

figure 4.4.1

DRIVER VOLTAGE: The higher the output voltage from the driver, the higher the level of torque vs. speed. Generally, the driver output voltage should be rated higher than the motor voltage rating.

figure 4.4.2 MOTOR STIFFNESS: By design, stepping motors tend to run stiff. Reducing the current flow to the motor by a small percentage will smooth the rotation. Likewise, increasing the motor current will increase the stiffness but will also provide more torque. Trade-offs between speed, torque and resolution are a main consideration in designing a step motor system. MOTOR HEAT: Step motors are designed to run hot (50-90 C). However, too much current may cause excessive heating and damage to the motor insulation and windings. AMS step motor products reduce the risk of overheating by providing a programmable Run/Hold current feature.

CHAPTER-5

5. MODULATION:

Basic concept of modulation: Modulation is the process of facilitating the transfer of information over a medium. The process of converting information so that it can be successfully sent through a medium is called Modulation.

Three basic types of digital modulation techniques are: a) Amplitude Shift Keying (ASK). b) Frequency-Shift Keying (FSK).

c) Phase-Shift Keying (PSK).

In ASK, the amplitude of the signal is changed in response to information and all else is kept fixed. Bit 1 is transmitted by signal of one particular amplitude. To Transmit 0 we have to change amplitude keeping the frequency constant. On/Off Keying (OOK) is a special form of ASK.

ON/OFF Keying:

The simplest and most common form of ASK operates as a switch, using the presence of a carrier wave to indicate a binary 1 and its absence to indicate a binary 0. This type of modulation is known as On/Off Keying modulation

5.1 APPLICATION

o Wireless remote control systems o Keyless entry for cars o Home security systems o Wireless gate and garage door openers o Lighting control o Personal assistance / paging devices o Remote status / position sensing o Access control system (RF ID) o Wireless serial data transmission

FABRICATION OF PCB

PREPARING THE LAYOUT

The first stage in the preparation of PCB is layout preparation. Since most of the component sizes and IC pin out spacing are in inch size even today, an inch graph sheet is preferred over cm graph sheet. First the components are placed over the graph sheet in relation to the circuit flow and the footprint of all the components is marked. Then inter connections are drawn using a pencil or pen.

DRAWING ON COPPER CLAD SHEET (PLAIN PCB)

The prepared layout is placed over a plain PCB, which is then cut into required size. 1 mm holes are drilled over the PCB using the graph sheet as position marker. Then draw the layout diagram on copper clad sheet using a permanent Ink marker pen or paint. Then it will be dried in air. Now the board is ready for etching.

ETCHING OF PCB

Take fresh water and mix a little quantity of Ferric chloride and add a few drops of dilute acid to it, as it speeds up the etching process. Shake well and immerse the PCB in the solution for about 15 minutes. Occasionally shaking the solution by giving the seesaw motion to the tray reduces the etching time. Observe the etching process by the change in color on the copper surface. Takeout the PCB after

complete etching out (removal) of unpainted portion of the copper surface. Wash the PCB in running water. Dry the board a little and remove the ink / paint using soft pieces of cloth dipped in thinner or turpentine. Now the PCB is ready to use.

CHAPTER-6

PROGRAM FOR STEPPER MOTOR CONTROL

led1 equ p2.4 led2 equ p2.5 led3 equ p2.6 led4 equ p2.7 ;----------------------org 0000h mov p1,#00h mov p2,#00h mov sp,#50h clr led1 clr led2 clr led3 clr led4 start: jnb p0.4,action djnz r7,$ mov a,p0 anl a,#0fh

cjne a,#07h,ck2 setb led1 clr led2 clr led4 ajmp exit

ck2: cjne a,#0bh,ck4 clr led1 setb led2 clr led4 ajmp exit

ck4: cjne a,#0eh,ck8 cpl led3 ajmp exit

ck8: cjne a,#0dh,action setb led4 clr led3 ajmp exit

exit: jb p0.4,$ djnz r7,$ ajmp action

action: jb led4,single jb led1,forward jb led2,reverse ajmp start

forward: mov a,20h

loop10: mov r2,#04h loop11: rl a mov p1,a acall delay2 mov p1,#00h acall delay1 djnz r2,loop11 mov 20h,a ajmp start

reverse: mov a,20h

loop20: mov r2,#04h

loop21: rr a mov p1,a acall delay2 mov p1,#00h acall delay1 djnz r2,loop21 mov 20h,a ajmp start

single: mov a,20h rr a mov p1,a acall delay1 mov p1,#00h acall delay2 mov 20h,a clr led4 jnb p0.4,$ ajmp start delay1: mov r7,#10h

jnb led3,delay10 mov r6,#10h ajmp delay11 delay10: mov r6,#01h delay11: djnz r7,$ djnz r6,delay11 ret delay2: mov r7,#00h mov r6,#10h delay21: djnz r7,$ djnz r6,delay21 ret ;-----------------end

CHAPTER -7

Conclusion

Thus stepper motor operation is controlled using Bluetooth concept now enters in to its concluding passage. Thus by using Bluetooth concept for Wireless Communication, we can reduce the restrictions of using IR for the same purpose. There is also efficient & reliable digital communication provided and no need of line of sight operation.

Advantages o Instantly processed. o Cheaper than other facilities. . Limitations The following are the disadvantages of this project. o Single user only allowed. o Frequency was pre-tuned.

To over come the above-mentioned points some remedies should be taken, as the project has to

globalize.

Bibliography

o The 8051 microcontroller architecture, programming & application - Kenneth J. Ayala o Communication engineering - B.Saravanan - A.Sabanayam o Electronic devices & components - A .P.Godse - D.A.Godse

o www.complextoreal.com

o www.laipac.com

o www.abcsemiconductor.com

o www.holtek.com

o www.computronics.com Posted by madhanat 10:43 AMNo comments: Home

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STEPPER MOTOR CONTROL USING BLUETOOTH CONCEPT


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2008 (1) o November (1) Stepper Motor Control


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