Final Design Report. Project Title: Multi-Function Pontoon (MFP)

Transcription

1 EEL 4924 Electrical Engineering Design (Senior Design) Final Design Report 25 April 2012 Project Title: Multi-Function Pontoon (MFP) Team Members: Name: Mikkel Gabbadon Name: Sheng-Po Fang Project Abstract: Our project consists of building a remote boat with various sensors and GPS navigation. Temperature and distance will be the main sensors mounted on the boat. The information received from the sensors will be transmitted to an LCD screen via Xbee. The LCD screen will be mounted on the controller which sends information back to the main board also Xbee. There will also be a GPS module which will receive the GPS coordinates a manually take control of the steering of the boat to make it travel to pre-programmed way-points; while simultaneously transmitted the location and distance to waypoint information back to the laptop screen. The boat will be controlled remotely by our personally designed motor controller. The controller will control one 3-phase motor that will allow the boat to accelerate and a stepper motor which facilitates turning.

2 Page 2/13 Table of Contents Abstract...1 Project Features/Objectives Concept/Technology Selection... 3 Project Architecture.7 Distribution of Labor Parts List Projected Timeline Figures and Tables: Figure 1: Final Boat Frame Design.. 3 Figure 2: Xbee....4 Figure 3: EM406-A... 5 Figure 4: Basic MSP-430 processor...6 Figure 5: Distance Sensor(XL Max-Sonar EZ2) 6 Figure 6: Project Flow-Chart..9 Figure 7: Motor Driver Schematic.11 Figure 8: Motor Driver Schematic.12 Figure 9: MSP430 PCB.13 Table 1: Showing Parts List. 10 Table 2: Showing division of Labor.10

3 Page 3/13 Project Features/Objectives: The main objective of our project is to design a system test water quality Remote controlled boat. GPS navigation and display data Distance sensors and collision detection Display all sensor data on LCD and all GPS on monitor Completely wireless communication Technical Concepts/Technology Selection: To make all of these features possible there are several key objectives that must be achieved. Boat Frame Design This is probably the most important step in project. The boat will have to be designed in such a way to protect all of the electrical components from water and support the weight of the PCB, motors and power source.we are going to buy the frame of the boat and then modify it. The main modifications are the two floatation devices that will be added to both sides of the boat. This add-on is incredibly important because not only does it decrease the like-hood of the boat sinking by increasing the buoyancy, the boat will be able to support more weight; especially because some of the components motors, battery will be heavy.

4 Page 4/13 Figure 1: Final Boat Frame Design Motor Controller There will be two different motors on the boat. One motor is a 3-phase DC motor. This will be controlled by a RC motor driver and the MSP430. The MSP 430 will send out a PWM signal to the motor driver which will then turn the motor on/off an adjust speed. The second motor stepper will control the direction the boat is travelling. The stepper motor will be controlled by a stepper motor control circuit. The MSP-430 will send several signals to the PCB and according to the command the boat will turn left or right. Wireless Interfacing We are going to use two pairs of wireless XBee s. One Xbee pair will control the boat. One Xbee will send out the motor control data, the other Xbee connected to the main board will receive the commands and the MSP430 will then decode the subsequent message. The Xbee on the main boat will also transmit the sensor data that the boat receives back to the controller Xbee where the message is decoded and displayed. The third Xbee will transmit the received and decoded GPS data to the computer monitor. This Xbee unlike the others has only one function. Figure 2: Xbee

5 Page 5/13 GPS We will be using an EM-406A GPS to receive GPS data. The GPS will be connected to a RX pin on the microprocessor UART. The information received by the GPS-microp will then be decoded into a buffer where the location can be stored so that further processes can happen. Figure 3: EM-406A Information Display We will be using a 2 line LCD screen to display the sensor data received. The information will be received via Xbee, decoded by the microprocessor and then displayed on the LCD screen. The GPS positional data will be decoded by the microprocessor on the main board and then displayed on the computer motor. Microprocessor We choose an MSP-430 with 64 pins to all of the operations. Specifically, we chose the MSP- 430F2619 because each 64-pin MSP-430 had two UART modules. The UART modules are especially important because the only way for the Xbee s and the GPS to communicate with the MSP-430 s is via UART.

6 Page 6/13 Figure 4: Basic MSP-430 processor Sensors The sensors account for the main analog component of this experiment. We are using two main sensors for our project temperature, distance/depth and PH sensors. The temperature sensor will be placed on the base on the boat directly into the water. The temperature sensor will be able to measure water temperature. The distance sensor will be placed on top of the boat facing outwards. The distance will be used as an object detection device. Figure 5: Distance Sensor( XL-Maxsonar EZ2)

7 Page 7/13 Miscellaneous There are also costs that will be added to the project apart from the main components. Overall the boat should cost around $50. Enclosure: We need two enclosures. One for the controller device and one to protect the circuitry on the main board Fans: We need 2 fan blades to attach to the DC motor component. Water Proofing : Expoxy will be used to make the sensors water-proof and still usable Power-Source: We need a 7.4v lipo battery to power all the various motors on the main board. Also, a 9V battery for the remote controller. Circuitry: We will need a lot of basic circuit components. Capacitors, MOS, resistors etc. Project Architecture The design of the boat was split into several modules: 1. Sensors Both sensors on the boat were connected to the ADC of the MSP430F2619. The sensor data was sampled using the ADC sampling timer. The ADC data was then converted from voltage data into useable data and then stored in a buffer. 2. Xbee Communication There were three Xbee s and each Xbee performed a completely different function: Xbee Controller This Xbee performed two functions. It was connected to the MSP on the controller via the UART. When the user presses a button on the controller the Xbee will transmit a Byte of data containing all of the switch data. This Xbee will also receive data

8 Page 8/13 from the Xbee Boat. While sending data, the Xbee will also receive strings of sensor data for the MSP-430 to decode. Xbee Boat This Xbee also performs two functions. It receives controller data from the Xbee Controller for the MSP430 to decode. It also transmits the string of sensor data to the controller Xbee. Xbee GPS This Xbee transmits the decoded GPS data to another Xbee connected to the computer. This Xbee data is then displayed on the X-CTU program. 3. GPS control The GPS is connected to the MSP430 via the UART. The GPS receives satellite data and transmits them to the MSP-430. The MSP430 then decodes the NMEA GPS data and stores the location in several buffers. When the boat is switched to GPS mode the boat will drive to a stored way-point and return to the first point that the GPS recorded.

9 Page 9/13 Figure 6: Project Flow-Chart

10 Page 10/13 Bill of Materials Parts List Quantity Price Total Temperature Sensor Distance sensor Motors GPS Module - EM-406A MPS Xbees Enclosures Boat Core Driver Li-Ion Battery: 7.4v Total Table 1: Showing Parts List Distribution of Labor: Task Mikkel Sheng-Po Research Create motor contoller Create LCD interface Create wireless system GPS System Sensor configuration Frame creation Create and Debugg PCB's Table 2: Showing division of Labor

11 Page 11/13 Appendices Figure 7: Motor Driver Schematic

12 Page 12/13 Figure 8: Motor Driver PCB

13 Page 13/13 Figure 9:MSP430 PCB