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7/28/2019 Design of Multi-Detrct Surface Algorithm for Home Vacuum Aplication - Mohamad Sahran b. Kamilan - TJ223.P76.M
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DESIGN OF MULTI- DETECT SURFACE ALGORITHM FOR
HOME VACUUM APLICATION
MOHAMAD SAHRAN BIN KAMILAN
This Report Is Submitted In Partial Fulfillment of Requirements for the Degree
of Bachelor in Electrical Engineering
(Power Electronic & Drive)
Fakulti Kejuruteraan Elektrik
Universiti Teknikal Malaysia (UTeM)
May 2008
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ABSTRACT
The main objective of this project is to design and develop a multi-detect
surface algorithm for home vacuum application. In this paper, vacuum controller,
(advance controller for multi detect surface) will be explained and studied. Advance
controller describes the discipline where control method are developed that attempt to
emulate important characteristics of human intelligence. These characteristics include
adaptation and learning, planning under large uncertainty and copying with large
amount of data. This project concerned about the vacuum controller motor speed that
installed an advance controller. The sensor will detect the surface of the variety floor
and give the signal to the controller for determine the speed of the motor. The key
point of this project is that this controller can function and could interface with sensor,
and finally its own actuator that is rotation of the motor. For this projectused PIC
16F873A, sensor and other components. This project is focusing on the automatics
function system and control system that bases on a PIC 16F873A microcontroller. The
usage of the vacuum controller motor speed is to present such items as the user's real
environment. It can make our job easier and simple to use.
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ABSTRAK
Tujuan utama projek ini adalah untuk mencipta dan memajukan satu alat yang
boleh mengesan atau membezakan pelbagai jenis permukaan dan seterusnya
diaplikasikan pengunaannya dalam vakum di rumah. Oleh itu, dalam laporan ini
pengawal vakum vacuum controller for-multi detect surface akan diterangkan.
Advance controller merupakan satu displin dimana satu kawalan dimajukan dan
ianya diadaptasikan atau dicontohi dari kepintaran manusia. Ciri- ciri ini ternasuklah
adaptasi dan pembelajaran, merancang sesuatu yang tidak ditentukan dan menyalin
serta membaca pelbagai data. Justeru itu, projek ini adalah mencipta sejenis vakum
yang boleh mengawal kelajuan motor untuk menyedut sampah mengikut jenis
permukaan yang dikesan oleh sensor dan ianya diadaptasikan dari advance
controller teori. Kunci utama untuk menghasilkan alat ini adalah, alat pengawal yang
boleh membaca dan menghantar isyarat dari sensordan seterusnya motor pada
vakum berputar mengikut arahan yang diberi oleh alat pengawal. Sebagai contoh,
untuk permukaan permaidani, vakum memerlukan kelajuan yang tinggi pada motor
untuk menyedut sampah dan sebaliknya untuk permukaan lantai licin. Untuk projek
ini, PIC 16F873A dan IR sensor digunakan berserta komponen elektronik lain.
Keseluruhan dari projek ini boleh diringkaskan ialah aplikasi dari sistem fungsiautomatik. Hal ini kerana, kelajuan motor berubah dengan sendiri dan bersesuaian
mengikut jenis permukaan yang dikesan. Akhir sekali, penghasilan vakum ini amatlah
praktikal dan sesuai digunakan dalam kehidupan sebenar kerana ia adalah satu alat
yang mudah digunakan dan menyenangkan kerja.
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CHAPTER 1.0
INTRODUCTION
Advance controller describes where control method are developed that attempt
to emulate of human intelligence. Advances in sensors, actuators, computation
technology and communication networks help provide the necessary for
implementation this control hardware.
Advance control methodologies are being applied to robotics and automation,
communications, manufacturing, traffic control, to mention but a few application
areas. Neural networks, fuzzy control, genetic algorithms, planning systems, expert
systems, and hybrid systems are all areas where related work is taking place.
For this project, the design of multi- detect surface algorithm for home vacuum
application will be build to implement the advance controller. This project are bases
on used PIC 16F873A, LM358 and infrared sensor as a main component for
hardware development.
The success of vacuum controller for multi detect surface operation will be used
or implement for home vacuum application. This vacuum controller with automatic
function is mainly to make human job more easily and convenient.
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1.1 Problem Statement
Nowadays, there are many type of vacuum, but not many vacuums that have
an advance or intelligent function. So, vacuum controller for multi detect surface is
build. This vacuum controller is easy to use with an automatic function to make our
work more convenient in a life day.
Otherwise, this vacuum is also low cost designing with low power uses. So,
this vacuum construction is highly practical to develop for human uses.
For this vacuum controller motor speed, it is difficult to design and upgrade
from the type of vacuum that have a basic function. Besides, the controller is hard to
design and have difficult construction.
1.2 Project Objectives
The following objective will be based on PIC 16F873A programming:
1. To design and develop an intelligent controller of the basic type of vacuum.
2. To make the controller can function and could interface with sensor.
3. To develop a system that can control the speed of the rotation motor.
4. To develop a system that has an automatic mode and function controlling.
5. To build and upgrade the function of the basic vacuum that already has.
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1.3 Scope of project
The project final results;
The vacuum controller will be able to control the speed of motor follow suit
the surface of the floor. Based on the PIC 16F873A microcontroller as the heart of
the system.
Approach used in this project;
To control the speed of motor in vacuum, firstly, the sensor will detect the
variety of surface on floor. The sensors that will be used are transmitter and
receiver IR sensor. This sensor emits infrared radiation or signal. Then send
or transmit the signal to the controller that is PIC 16F873A.
The controller will function and the systems will immediately response to
determine the applicable speed of motor.
Finally, the speed of rotation motor follow suits the type of surface floor to
suck the rubbish.
The project involved;
#Hardware;
The hardware development consists of the design, redesigns, testing and
troubleshoots all the circuit involved. It contains of infrared sensor and PICcontroller as a control element. Proteus Professional 6 has been used for all design of
the circuit.
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#Software;
The software part will base on the simulations for all the system parts and the
program development used MikroC program. This program is important because it
give the instruction all the journey of the hardware.
#Firmware;
This project consists of hardware development & software application and
improvement for the existing system. The complete design and development
hardware and software will combine to make vacuum controller for multi-detect
surface. This combination as the final test for the firmware and to ensure this project
is successful follow the planning.
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CHAPTER 2.0
LITERATURE REVIEW
2.1 Introduction
This chapter includes the study of hardware and software development. There
are two aspects in process to be proceeding while doing this project that are software
part and electrical part. For the electrical part, contain part on programmer for
microcontroller PIC16F873A, LM358, IRF 530N control circuit and sensor. For
software part, the MikroC programming C and the Proteus Professional will be used
to simulate the circuit.
2.2 Microcontroller
All microcomputer systems, irrespective of their complexity, are based on
similar building blocks. A microcontroller (or MCU) is a computer-on-a-chip used to
control electronic devices.
These are shown in Figure 1 and consist of the following:
CPU - the part that does all logic and arithmetic functions
RAM - storage for programs and/or program variables
ROM - read-only parts of programs
I/O - connection to external devices
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Figure 2.1: Basic Building Blocks of a Computer
Figure 2.2: A Microcontroller Based System
Most microcontrollers contain circuitry to generate the system clock. This
square wave is the heart beat of the microcontroller and all operations are
synchronized to it. Obviously, it controls the speed at which the microcontroller
functions. All that needed to complete the clock circuit would be the crystal or RC
components. We can, therefore precisely select the operating speed critical to many
applications.
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To summarize, a microcontroller contains (in one chip) two or more of the
following elements in order of importance:
i. Instruction set
ii. RAM
iii. ROM, PROM or EPROM
iv. I/O ports
v. Clock generator
vi. Reset function
vii. Watchdog timer
viii. Serial port
ix. Interrupts
x. Timers
xi. Analog-to-digital converters
xii. Digital-to-analog converters
The CPU or microprocessor is the core component of any microcomputer and
it requires the external components such as the ROM, RAM, I/O to accomplish its
purpose. The difference between the microprocessor and the microcontroller arises
because of their different end-usage. The microcontroller that will be investigated is
the PIC16F873A.
2.3 PIC 16F873A
Basically, we are using programmable IC (PIC) microcontroller to design of
such circuit easier since it allows the programming of specific behaviors in software.PIC microcontrollers are among the cheapest possible microcontrollers, they are
considered relatively low-level microcontrollers and low power consumption which
need some external parts to function.
The PIC 16F873A (Programmable Interface Controller) devices are available
only in 28-pin packages. The PIC 16F873A have one-half of the total on-chip
memory of the PIC 16F876A and PIC 16F877A. This 28 pin devices have three I/O
ports, five channels of A/D converter input channels, fourteen interrupts, PWM
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output, capture and compare registers, power on reset, watchdog timer, power saving
sleep mode, brown-out detection circuitry, in-circuit programming support, USART,
and timers.
Figure 2.3: PIC 16F873A. [8]
The microcontroller acts like the brain of the control system. Microcontroller
chip that has been selected for the purpose of controlling the speed of DC motor is
PIC 16F873A manufactured by Microchip. A typical microcontroller contains all the
memory and interfaces needed for a simple application, whereas a general purpose
microprocessor requires additional chips to provide these functions.
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Figure 2.4: The Pin Diagram of PIC 16F873A. [8]
This chip is selected based on several reasons:
Its size is small and equipped with sufficient output ports without having to
use a decoder or multiplexer.
Its portability and low current consumption.
It has PWM inside the chip itself which allow us to vary the duty cycle of DC
motor drive.
It is a very simple but powerful microcontroller. Users would only need to
learn 35 single word instructions in order to program the chip.
It can be programmed and reprogrammed easily (up to 10,000,000 cycles)
using the universal programmer in robotics lab.
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Figure 2.5: Program Memory Map and Stack of PIC 16F873A. [8]
2.3.1 Program Memory Organization
The PIC 16F873A devices have the 13-bit program counter capable of
addressing a 4K word x 14 bit program memory space. The Reset vector is at 0000h
and the interrupt vector is at 0004h. There are three memory blocks in each of the
PIC devices that are Stack Level, Reset Vector, and Interrupt Vector. The program
memory and data memory have separate buses so that concurrent access can occur.
2.3.2 I/O Ports
For the PIC 16F873A that has been choosing for the controller hardware
design, it has divide into three pin. These pins are PORTA and the TRISA Register,
PORTB and the TRISB Register, PORTC and the TRISC Register. Some pins for
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these I/O ports are multiplexed with an alternate function for the peripheral features
on the device. In general, when a peripheral is enabled, that pin may not be used as a
general purpose I/O pin. All this pins port will be describe in the block diagram
below.
2.3.2.1 PORTA and the TRISA Register
Figure 2.6: Block Diagram of RA3- RA0 Pins. [8]
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Figure 2.7: Block Diagram of RA4/TOCKI Pin. [8]
Figure 2.8: Block Diagram of RA5 Pin. [8]
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PORTA is a 6-bit wide, bidirectional port. The corresponding data direction
register is TRISA. PORTA pins are multiplexed with analog inputs and the analog
VREF input for both the A/D converters and the comparators. The operation of each
pin is selected by clearing/setting the appropriate control bits in the ADCON1 and/or
CMCON registers. The TRISA register controls the direction of the port pins even
when they are being used as analog inputs. So we must ensure the bits in the TRISA
register are maintained set when using them as analog inputs.
Table 2.0: PORTA Functions. [8]
2.3.2.2 PORTB and the TRISB Register
Figure 2.9: Block Diagram of RB3-RB0 Pins. [8]
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Figure 2.10: Block Diagram of RB7-RB4 Pins. [8]
PORTB is an 8-bit wide, bidirectional port. The corresponding data direction
register is TRISB. If there is an interrupt it can wake up the devices from sleep. The
user, in the Interrupt Service Routine can clear the interrupt in following manner:
Any read or write of PORTB. This will end the mismatch condition.
Clear flag bit RBIF.
Table 2.1: PORTB Functions. [8]
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2.3.2.3 PORTC and the TRISC Register
Figure 2.11: PORTC Block Diagram (Peripheral Output Override) RC,
RC. [8]
Figure 2.12: PORTC Block Diagram (Peripheral Output Override) RC. [8]
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PORTC is an 8-bit wide, bidirectional port. The corresponding data direction
register is TRISC. Setting a TRISC bit (= 1) will make the corresponding PORTC
pin an input (the corresponding output driver in a High-Impedance mode). Clearing a
TRISC bit (= 0) will make the corresponding PORTC pin an output.
Table 2.2: PORTC Functions. [8]
2.4 IRF 530N
Power MOSFETs from International Rectifier utilize advanced processing
techniques to achieve extremely low on-resistance per silicon area. This benefit
combined with the fast switching speed device design that HEXFET power
MOSFETs are well known for, provides the designer with an extremely efficient and
reliable device for use in a wide variety of applications. This IRF 530N will combine
with transistor as a switching element for DC motor. Besides, heat sinking is uses
and important to these transistor as a thermal protection. The IRF 530N has three
terminal that is source, gate and drain. The variety application of IRF 530N are:
High current, High speed switching
Solenoid and relay drivers
Regulator
DC-DC & DC-AC converter
Motor control, Audio amplifier
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Figure 2.13: IRF 530N Terminal. [7] Figure 2.14: IRF 530N Internal
Schematic Diagram. [7]
2.5 Infrared Sensor
Sensors are a critical component in a motor control system. They are used to
sense the current, position, speed and direction of the rotating motor. Recent
advancements in sensor technology have improved the accuracy and reliability of
sensors, while reducing the cost.
Many sensors are now available that integrate the sensor and signal-
conditioning circuitry into a single package. In most motor control systems, several
sensors are used to provide feedback information on the motor.
In this project, infrared sensor will used to compare the variety surface of the
floor. These sensors are used in the control loop and to improve the reliability by
detecting fault conditions or different condition.
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Figure 2.15: Transmitter and Receiver Figure 2.16: IR TX-RX Pair SensorIR Sensor Signal
Figure 2.17: The Pair of Infrared Sensor
LED emits infrared radiation. This radiation illuminates the surface in front
of LED. Surface reflects the infrared light. Depending on reflectivity of the surface,
amount of light reflected varies. This reflected light is made incident on reverse
biased IR sensor. When photons are incident on reverse biased junction of this diode,
electron-hole pairs are generated, which results in reverse leakage current. Amount
of electron-hole pairs generated depends on intensity of incident IR radiation.
More intense radiation results in more reverse leakage current. This current
can be passed through a resistor so as to get proportional voltage. Thus as intensity of
incident rays varies, voltage across resistor will vary accordingly. This voltage can
then be given to OPAMP based comparator. So, the output from the comparator can
be read by uC. Alternatively, on-chip ADC can be use in AVR microcontroller to
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measure this voltage. It is because microcontroller only can read the signal in ADC
(Analog to Digital) signal and perform comparison in software.
Figure 2.18: Circuit Diagram for IR Sensor Module. [4]
This circuit is divided into two sections. IR TX and IR RX are to be soldered
on small general purpose Grid PCB. From this module we can use three wires at
about two feet long. Then, connect them to VCC, preset and to ground on main
board. Lastly, the VCC should be connected to 5Vdc supply.
2.6 LM 358- Low Power Dual Operational Amplifier
LM358 is consists of two independent, high gain, internally frequency
compensated operational amplifiers which were designed specifically to operate from
a single power supply over a wide range of voltage. Operation from split power
supplies is also possible and the low power supply current drain is independent of the
magnitude of the power supply voltage. Application areas include transducer
amplifier, DC gain blocks and all the conventional OP amp circuits which now can
be easily implemented in single power supply systems.
The features of LM 358:
Internally frequency compensated for unity gain.
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Large DC voltage gain: 100dB.
Wide power supply range: 3V~32V (or1.5V~16V).
Input common-mode voltage range includes ground.
Large output voltage swing: 0V DC to VCC-1.5V DC.
Power drain suitable for battery operation.
Figure 2.19: LM 358 Pin Function. [5]
2.7 Software Part
2.7.1 MikroC Programming
There are three most common ways can be used to program the PIC
microcontroller, either using the assembly language, PIC Basic or C language. The
assembly language and PIC Basic are considered to be quite messy and complicated
to be used in programming. Furthermore, it may take more time to understand the
deliverables of the built-in functions of assembly language compared to C.
C language is more straightforward and takes shorter time to be understood.
C compiler is made by the third parties to provide viability to the programmer in
coding the PICs. The basic knowledge on C syntax, its built-in functions and pre-
processor are essential in pursuing the project to program the microcontroller. Forthis project MikroC programmer is used.
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Figure 2.20: The MikroC Software
2.7.2 Proteus Professional 6
To draw a complete circuit for a microcontroller, Proteus Professional 6 is
used. This software is like a host features of the PCB layout. Proteus software also
used to simulate the programming after the complete MikroC programming design. It
means the programming that has been design will attach through the Proteus
Software.
The program is a brain of the controller that used to control operation of
automation system. If error occurred while doing the programming, the program
cannot be transfer. The program should be compiling first before attachment.
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Figure 2.21: The Proteus Professional 6 Software
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CHAPTER 3.0
METHODOLOGY
In this project, microcontroller will be used as the controller to control DC
motor speed at desired speed. The block diagram of the system is shown in Figure
3.1. It is a closed-loop control system.
Figure3.1: Basic Block Diagram for DC Motor Speed Control
The actual speed of DC motor will be measured by encoder and feedback to
microcontroller. In microcontroller, it will calculate the error between the desired
speeds with the actual speed. The error will determine duty cycle of pulse-width-
modulation (PWM) in microcontroller. Then, the duty cycle will send to DC motor
driver either accelerate or decelerate DC motor to maintain it at desired speed. So,
the controller is so important and like the brain to determine the suitable speed of the
motor.
Motor
Driver
Sensor
ControllerActual
Speed
Feedback
Speed
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DC
Motor
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3.1 Methodology of the Project
For designing and executing this project, there are few methods that should
be taken for consideration. In ordering to fulfill this project done successfully follow
the planning and schedule, there is a few method that should be taken:
Yes
Yes
No
No
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Software development
Write program
Hardware
development
Make a research
Circuit designing and
testing
Erro
r Erro
r
TroubleshootTroubleshoot
Compile
A
B
START
System Development