Escolar Documentos
Profissional Documentos
Cultura Documentos
INTRODUCTION......................................................................................................... 1
BOOM-BARRIER:....................................................................................................... 3
Pictorial Representation of the Solution .................................................................13
Software configuration........................................................................................... 14
Benefits of the Solution.......................................................................................... 16
(i) Drawings:........................................................................................................... 17
(ii) System Documentation..................................................................................... 18
(5) QUALITY ASSURANCE:....................................................................................... 19
POWER SUPPLY :..................................................................................................... 20
SENSING CIRCUIT DIAGRAM.................................................................................... 21
WORKING OF CIRCUIT............................................................................................. 22
FUNDAMENTALS OF MOTOR................................................................................... 23
2. SPEED.............................................................................................................. 24
3. POWER............................................................................................................ 25
2. Motor Characteristics......................................................................................... 27
TORQUE/SPEED CURVES...................................................................................... 27
POWER/TORQUE and POWER/SPEED CURVES.....................................................30
SEMICONDUCTOR H-BRIDGES................................................................................31
CIRCUIT DIAGRAM................................................................................................... 34
WORKING OF CIRCUIT............................................................................................. 35
INFRARED TRANSMITTER AND RECEIVER CIRCUIT..................................................38
INTRODUCTION TO MICROCONTROLLER................................................................39
COMPLETE CIRCUIT DIAGRAM................................................................................. 44
Regulator............................................................................................................. 45
PARTS AND PRICE LIST............................................................................................ 48
BIBLOGRAPHY......................................................................................................... 52
INTRODUCTION
The foremost motive of our R&D is to develop an application that can be used
with all the RFID Readers of international standard. We have successfully
integrated and tested the Readers with our application.
We have plug and play system for RFID based Vehicle Identification and
Automatic data capturing from Weigh Bridge. The application works with all the
Boom Barriers and any of the Weigh Bridges.
The average log size in many parts of the world is getting smaller and it is
becoming increasingly time consuming and expensive to individually scale each
log
It should also have an automated, efficient monitoring system that allows for
accurate vehicle identification as well as an easy measuring system for the load
BOOM-BARRIER:
DESIGN CONCEPT
Gate automation system proposed for CDRI Campus consist of Boom Barrier &
turnstile to restrict/ control/ monitor entry of vehicles and peoples to the
administrative and laboratory area of CD RI.
Boom Barriers are proposed to be installed on all the roads leading towards
administrative and laboratory area of CDRI Campus are as follows:
- Boom- barrier at main gate of the CDRI campus without access control
units
-Boom-barrier on other locations with access control units.
A rising boom barrier shall mean a vehicle access barrier that shall open in
case of an impulse with the use of a valid card. Vehicle of people authorized
by the CDRI Management shall enter into the restricted area.
Separate Boom Barriers are proposed for two and four wheel vehicle.
Boom-barriers which operate automatically utilize induction loops to detect
the approaching vehicles with the help of loop detector.
The turnstiles are proposed to be installed at all security checks of CDRI
campus to regulate the entry of pedestrians.
All the turnstile shall be operated through proximity card based access control
units. People with valid proximity cards can enter into the main
administrative building.
The price coated by the vendor should include all the expenses incurred in
commissioning of gate automation System, comprising of boom barrier and
electromechanical turnstiles.
The boom barrier and turnstile shall function in integration with proximity
card based access control units.
Boom barrier shall comprise of boom, motor, loop detector, control pillar
for access control complete with all other accessories and providing of
supervisory specialists and technicians at the site to assist in all phases of
system installation, start up and commissioning.
The scope of work includes making of foundation, loop installation for barrier
including all work of laying of cable.
Control pillar to house card reader IP 44 protections and polycarbonate sheet
for card reader.
Canopy or shed for turnstile to protect from direct rain and sunlight.
Cat 6 cable/fiber cable connectivity with all required hardware upto
purchasers networking switches of LAN, locations of networking switches
in CDRI campus are indicated in the list. enclosed with this tender
docoments.
230 volts AC Power supply distribution from UPS to each location of Boom
Barrier/Turnstiles along with DBs ,JBs, cabling work with required
accessories.
installation,testing
and
Each vehicle has a passive tag, which is applied inside the windshield.
The windshield tag is a high performance tag that is ideal for plastic and glass.
10
11
As soon as the RFID Reader reads the tags affixed on the trucks its number plate
will be automatically displayed on the system software (i.e. client PC).
Also the net weight of the load carried by the vehicles can be displayed against
respective vehicles in the software.
The RFID system can be integrated with software systems for billing, reporting, and
revenue collection, that provides even greater cost and time efficiency to operators
Rollout of System is quick and easy and can be used in conjunction with existing
systems.
13
Software configuration
14
15
Our System will eliminate the repetitive job of staffs at weigh station.
He does not need to rekey truck license plate number every time when the
truck is on the weighbridge.
16
(i) Drawings:
The system supplier shall submit all shop drawings, and bill of materials for
approval /reference.
19
The entire system shall be installed and commissioned from a single vendor to
assure reliability and continued service.
The vendor shall be required to train and instruct client's personnel in the
correct use, operation and supervision of the system, preferably prior to the
handing over of the project.
The supplier shall be responsible for inspection and Quality Assurance (QA) for
all materials and workmanship furnished.
20
POWER SUPPLY :
230 V + 10 % , 50 Hz + 5% shall be made available for UPS input. Bidders scope shall include
complete power distribution for IP CCTV system,Access Control system , Boom Barriers and
Turnstiles, including complete cabling work, DBs and required electrical accessories with suitable
protection devices from UPS (in bidders scope) and UPS output to IP CCTV cameras , Access
control devices, Boom Barriers and Turnstiles.
Colour sensor is an interesting project for hobbyists. The cir- cuit can sense eight colours,
i.e. blue, green and red (primary colours); magenta, yellow and cyan (secondary colours);
and black and white. The circuit is based on the fundamentals of optics and digital
electronics. The object whose colour is required to be detected should be placed in front
of the system. The light rays reflected from the object will fall on the three convex lenses
which are fixed in front of the three photo diodes. The convex lenses are used to
converge light rays. This helps to increase the sensitivity of photo diodes. Blue, green
and red glass plates (filters) are fixed in front of photo diode 1, photo diode 2 and photo
diode 3 respectively. When reflected light rays from the object fall on the gadget, the
coloured filter glass plates determine which of the photo diodes would get triggered. The
circuit makes use of only AND gates and NOT gates.
When a primary coloured light ray falls on the system, the glass plate corresponding to
that primary colour will allow that specific light to pass through. But the other two glass
plates will not allow any light to pass through. Thus only one LDR will get triggered and
the gate output corresponding to that photo diode will become logic 1 to indicate which
colour it is. Similarly, when a secondary coloured light ray falls on the system, the two
primary glass plates corres- ponding to the mixed colour will allow that light to pass
through while the remaining one will not allow any light ray to pass through it. As a result
two of the photo diodes get triggered and the gate output corresponding to these will
become logic 1 and indicate which colour it is.
21
22
WORKING OF
CIRCUIT
23
FUNDAMENTALS OF MOTOR
24
There are different kinds of D.C. motors, but they all work on the same principles. To understand
what goes on inside a motor, here is an example.
When a permanent magnet is positioned around a loop of wire that is hooked up to a D.C. power
source, we have the basics of a D.C. motor. In order to make the loop of wire spin, we have to
connect a battery or DC power supply between its ends, and support it so it can spin about its
axis. To allow the rotor to turn without twisting the wires, the ends of the wire loop are connected
to a set of contacts called the commutator, which rubs against a set of conductors called the
brushes. The brushes make electrical contact with the commutator as it spins, and are
connected to the positive and negative leads of the power source, allowing electricity to flow
through the loop. The electricity flowing through the loop creates a magnetic field that interacts
with the magnetic field of the permanent magnet to make the loop spin.
25
The DC motor used in this project is Direct Current permanent magnet motors operated at a
constant voltage. Motor characteristics vary considerably from type to type, and their performance
characteristics can be altered by the way electrical power is supplied. can be quite different than
those covered here. Few physical parameters associated with DC motors are
2. SPEED
expressed
Motors are devices that convert electrical energy into mechanical energy. The D.C. motors that
we have been dealing with here convert electrical energy into rotational energy. That rotational
energy is then used to lift things, propel things, turn things, etc. When we supply the specified
voltage to a motor, it rotates the output shaft at some speed. This rotational speed or angular
radians/second
{rad/s},
revolutions/second {rps}, or revolutions/minute {rpm}.
velocity,
is
typically
measured
in
When performing calculations, be sure to use consistent units. In the English system,
calculations should be done in degrees/second, and radians/sec for SI calculations.
26
NOTE:
1
revolution
1
revolution
1
radian
1 = (/180) radians
=
(2*)
=
=
360
radians
(180/)
From the angular velocity, , we can find the tangential velocity of a point anywhere on the
rotating body through the equation tangential velocity,
v= r* , where r is the distance from the axis of rotation. This relation can be used to compute
the steady state (constant speed - no acceleration) speed of a vehicle if the radius and angular
velocity of a wheel is known, or a winch winds up the linear speed of a rope as it.
3. POWER
Motive
a. Ability to act or produce an effect
Power
27
Power
in
rotational
motion
can
be
written
as:
UNITS of POWER
SI
Watts
newton-meters
English
per
1
W
=
1
W
=
1 W = 1.341E-03 hp
second
1
0.738
{W} foot-pounds
{Nm/s} horsepower
per
Nm/s 1
ftlb/s
=
ftlb/s 1 ftlb/s = 1.356 W
second
1.818E-03
{ftlb/s}
{hp}
hp
2. Motor Characteristics
TORQUE/SPEED CURVES
In order to effectively design with D.C. motors, it is necessary to understand their characteristic
curves. For every motor, there is a specific Torque/Speed curve and Power curve.
28
The graph above shows a torque/speed curve of a typical D.C. motor. Note that torque is
inversely proportioal to the speed of the output shaft. In other words, there is a tradeoff between
how much torque a motor delivers, and how fast the output shaft spins. Motor characteristics are
frequently given as two points on this graph:
The stall torque, , represents the point on the graph at which the torque is a maximum,
but the shaft is not rotating.
The linear model of a D.C. motor torque/speed curve is a very good approximation. The
torque/speed curves shown below are actual curves for the green maxon motor. One is a plot of
29
empirical data, and the other was plotted mechanically using a device. Note that the characteristic
torque/speed curve for this motor is quite linear.
This is generally true as long as the curve represents the direct output of the motor, or a simple
gear reduced output. If the specifications are given as two points, it is safe to assume a linear
curve.
Recall that earlier we defined power as the product of torque and angular velocity. This
corresponds to the area of a rectangle under the torque/speed curve with one corner at the origin
and another corner at a point on the curve (see figures below). Due to the linear inverse
relationship between torque and speed, the maximum power occurs at the point where,
, and
30
31
32
By substituting equations 3 and 4 (torque and speed) into equation 2 (Power), we see that the
power curves for a D.C. motor with respect to both speed and torque are quadratics, as shown in
equations
5
and
6.
From these equations, we again find that maximum output power occurs at
, and
respectively
SEMICONDUCTOR H-BRIDGES
we can better control our motor by using transistors or Field Effect Transistors (FETs). Most of
what we have discussed about the relays H-Bridge is true of these circuits. You don't need diodes
that were across the relay coils now. You should use diodes across your transistors though. See
the following diagram showing how they are connected. These solid state circuits provide power
and ground connections to the motor, as did the relay circuits. The high side drivers need to be
current "sources" which is what PNP transistors and P-channel FETs are good at. The low side
drivers need to be current "sinks" which is what NPN transistors and N-channel FETs are good at.
33
If you turn on the two upper circuits, the motor resists turning, so you effectively have a breaking
mechanism. The same is true if you turn on both of the lower circuits. This is because the motor is
a generator and when it turns it generates a voltage. If the terminals of the motor are connected
(shorted), then the voltage generated counteracts the motors freedom to turn. It is as if you are
applying a similar but opposite voltage to the one generated by the motor being turned. Vis--vis,
it acts like a brake. To be nice to your transistors, you should add diodes to catch the back voltage
that is generated by the motor's coil when the power is switched on and off. This flyback voltage
can be many times higher than the supply voltage! If you don't use diodes, you could burn out
your transistors.
34
Transistors, being a semiconductor device, will have some resistance, which causes them to get
hot when conducting much current. This is called not being able to sink or source very much
power, i.e.: Not able to provide much current from ground or from plus voltage.
Mosfets are much more efficient, they can provide much more current and not get as hot. They
usually have the flyback diodes built in so you don't need the diodes anymore. This helps guard
against flyback voltage frying your MCU. To use Mosfets in an H-Bridge, you need P-Channel
Mosfets on top because they can "source" power, and N-Channel Mosfets on the bottom because
then can "sink" power. N-Channel Mosfets are much cheaper than P-Channel Mosfets, but NChannel Mosfets used to source power require about 7 volts more than the supply voltage, to turn
on. As a result, some people manage to use N-Channel Mosfets, on top of the H-Bridge, by using
cleaver circuits to overcome the breakdown voltage.
It is important that the four quadrants of the H-Bridgecircuits be turned on and off properly. When
there is a path between the positive and ground side of the H-Bridge, other than through the
motor, a condition exists called "shoot through". This is basically a direct short of the power supply
and can cause semiconductors to become ballistic, in circuits with large currents flowing. There
are H-bridge chips available that are much easier, and safer, to use than designing your own HBridge circuit.
35
H-Bridge Devices
The L 293 has 2 H-Bridges, can provide about 1 amp to each and occasional peak loads to 2
amps. Motors typically controlled with this controller are near the size of a 35 mm film plastic
canister.
The L298 has 2 h-bridges on board, can handle 1amp and peak current draws to about 3amps.
You often see motors between the size a of 35 mm film plastic canister and a coke can, driven by
this type H-Bridge. The LMD18200 has one h-bridge on board, can handle about 2 or 3 amps and
can handle a peak of about 6 amps. This H-Bridge chip can usually handle an average motor
about the size of a coke. There are several more commercially designed H-Bridge chips as well
36
CIRCUIT DIAGRAM
37
38
WORKING OF CIRCUIT
This circuit drives small DC motors up to about 100 watts or 5 amps or 40 volts, whichever comes
first. Using bigger parts could make it more powerful. Using a real H-bridge IC makes sense for
this size of motor, but hobbyists love to do it themselves, and I thought it was about time to show
a tested
H-bridge motor driver that didn't use exotic parts.
Operation is simple. Motor power is required, 6 to 40 volts DC. There are two logic level
compatible inputs, A and B, and two outputs, A and B. If input A is brought high, output A goes
high and output B goes low. The motor goes in one direction. If input B is driven, the opposite
happens and the motor runs in the opposite direction. If both inputs are low, the motor is not
driven and can freely "coast", and the circuit consumes no power. If both inputs are brought high,
the motor is shorted and braking occurs. This is a special feature not common to most discrete Hbridge designs, drive both inputs in most
H-bridges and they self-destruct. About 0.05 amps is consumed in this state
To do PWM (pulse width modulation) speed control, you need to provide PWM pulses. PWM is
applied to one input or the other based on direction desired, and the other input is held either high
(locked rotor) or low (float). Depending on the frequency of PWM and the desired reaction of
the motor, one or the other may work better for you. Holding the non-PWM input low generally
works best for low frequency PWM, and holding the non-PWM input high generally works best at
high frequencies, but is not efficient and produces a lot of heat, especially with these Darlington,
so locked rotor is not recommended for this circuit.
Truth table:
Input | output
A| B | A| B
--------------0 0 | float
39
1 0|1 0
0 1|0 1
1 1|1 1
Performance:
Please reference the accompanying schematic diagram. The circuit uses Darlington power
transistors to reduce cost. Forward losses are typically 1 to 2 volts, and since the current must
pass through two transistors, expect losses to total up to 4 volts at maximum current. The 4
Darlington transistors need to be heat sink based on your expected current and duty cycle.
PWM operation over 3 kHz wills likely lead to high losses and more heat dissipation, due to the
simplicity of the circuit and the construction of Darlington transistors. You might get away with
higher frequencies if you put a 1K resistor emitter-base on each TIP12x transistor. I prefer to go
with very low frequencies, 50 to 300Hz.
Not shown in the schematic are the internal pinch-off resistors (5K and 150 ohms) and the
damper diode that are built into all TIP12x series transistors. If you build your own variation of the
circuit with other parts, include these necessary parts. To the right is a picture of the internals of
the TIP12x transistors.
Operation with logic signals greater than the motor supply voltage is allowed and
absorbed by R7 and R8. The circuit is really intended to be operated with CMOS logic
levels, logic high being about 4 volts.
If you live in the U.S., expect the TIP120 and TIP125 transistors to cost about $0.50 and
the very common and generic "quad-2" PN2222A to cost about $0.10. An inexpensive
40
source for hobbyist-grade parts like these is Jameco Electronics. At low duty cycles,
currents up to the 8 amp rated peak of the transistors is allowed, but there is no current
limiting in this circuit, so it would be unwise to use this circuit to drive a motor that
consumes more than 5 amps when stalled.
41
42
INTRODUCTION TO MICROCONTROLLER
43
INSTRUCTION SETS
Each PIC16CXX instruction is a 14-bit word divided into an OPCODE which specifies the
instruction type and one or more operands which further specify the operation of the instruction.
The PIC16CXX instruction set summary in Table 13-2 lists byte-oriented, bit-oriented, and
literal and control operations. Table 13-1 shows the opcode field descriptions.
For byte-oriented instructions, f represents a file register designator and d represents a
destination designator.
The file register designator specifies which file register is to be used by the instruction.
The destination designator specifies where the result of the operation is to be placed. If d is zero,
the result is placed in the W register. If d is one, the result is placed in the file register specified in
the instruction.
For bit-oriented instructions, b represents a bit field designator which selects the number of the
bit affected by the operation, while f represents the number of the file in which the bit is located.
For literal and control operations, k represents an eight or eleven bit constant or literal value.
TABLE 13-1:
OPCODE FIELD
DESCRIPTIONS
44
The instruction set is highly orthogonal and is grouped into three basic categories:
Byte-oriented operations
Bit-oriented operations
Literal and control operations
All instructions are executed within one single instruction cycle, unless a conditional test is true or
the program counter is changed as a result of an instruction.
In this case, the execution takes two instruction cycles with the second cycle executed as a NOP.
One instruction cycle consists of four oscillator periods. Thus, for an oscillator frequency of 4
MHz, the normal instruction execution time is 1 ms. If a conditional test is true or the program
counter is changed as a result of an instruction, the instruction execution time is 2 ms. Table 13-2
lists the instructions recognized by the MPASM assembler.
Figure 13-1 shows the general formats that the instructions can have.
46
47
Note 1: When an I/O register is modified as a function of itself ( e.g., MOVF PORTB, 1), the
value used will be that value present on the pins themselves. For example, if the data latch is 1
for a pin configured as input and is driven low by an external device, the data will be written back
with a 0.
2: If this instruction is executed on the TMR0 register (and, where applicable, d = 1), the
prescaler will be cleared if assigned to the Timer0 Module.
3: If Program Counter (PC) is modified or a conditional test is true, the instruction requires two
cycles. The second cycle is executed as a NOP.
Description:
The eight bit literal 'k' is loaded into W register. The dont cares will
assemble as 0s.
48
49
50
POWER SUPPLY
51
Voltage
regulator
PhotographRapid Electronics
Regulator
Voltage regulator ICs are available with fixed (typically 5, 12 and 15V) or variable output voltages.
They are also rated by the maximum current they can pass. Negative voltage regulators are
available, mainly for use in dual supplies. Most regulators include some automatic protection from
excessive current ('overload protection') and overheating ('thermal protection').
Many of the fixed voltage regulator ICs have 3 leads and look like power transistors, such as the
7805 +5V 1A regulator shown on the right. They include a hole for attaching a heatsink if
necessary.
Please
see
the
website
for
more
52
information
about
voltage
regulator
ICs.
zener
a = anode, k = cathode
diode
input
voltage
Vs
must
be
few
volts
greater
than
3. The maximum current Imax is the output current required plus 10%
4. The zener power Pz is determined by the maximum current: Pz > Vz Imax
5. The resistor resistance: R = (Vs - Vz) / Imax
6. The resistor power rating: P > (Vs - Vz) Imax
Example: output voltage required is 5V, output current required is 60mA.
53
Vz
= 50 , choose R = 47
6. Resistor power rating P > (8V - 4.7V) 66mA = 218mW, choose P = 0.5W
54
SNo.
Part No.
1.
PIC16F72
2.
TIP 122
3.
ULN2803
4.
TIP 127
5.
1N4007
6.
LM7805
7.
1000uf/25v
8.
10k
1k
4.7
820R
3.9K
9.
1N514
10.
T1
11.
PCB
12.
12x15
13.
DM12B500
14.
4 inch wheels
15.
16.
LM324
55
17.
NE555
18.
BC 547
19.
MT42
20.
21.
TL91
22.
TL92
23.
TSOP1738
24.
IR218
56
57
58
59
BIBLOGRAPHY
1. Bakkalbasi, O. and McGinnis, L.F., 1988, "ABC's of Preliminary In-House Planning and
Analysis of AGVS Applications," Proceedings of AGVS'88, MHI, Cincinnati, OH,
September 27-28.
2. Bartholdi, J.J. and Platzman, L.K., 1989, "Decentralized Control of Automated Guided
Vehicles on a Simple Loop," IIE Transactions, vol. 21, no. 1, pp. 76-81.
3. Baumgartner, E.T. and Skaar, S.B., 1994, "An Autonomous Vision-based Mobile Robot,"
IEEE Transactions on Automatic Control, vol. 39, pp. 493-502.
4. Biemans, F.P.M. and Vissers, C.A., 1989, "Reference Model for Manufacturing Planning
and Control Systems," Journal of Manufacturing Systems, vol. 8, no. 1, pp. 35-46.
5. Bohlander, R.A. and Heider, W., 1988, "Control Considerations When Planning AGVS
Installations," Proceedings of AGVS'88, MHI, Cincinnati, OH, September.
6. Bozer, Y.A., and Srinivasan, M.M., 1991, "Tandem Configurations for Automated Guided
Vehicle Systems and the Analysis of Single-Vehicle Loops," IIE Transactions, vol. 23, no.
1, pp. 72-82.
60