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Projects

Cascade control of DC motor

Cascade control is the most effective speed control of DC motors , it is used to obtain fast output responses and high current control, as well as being suitable for low and high capacity motors . Moreover, “it has a better set point tracking, better disturbance rejection and less delay time and phase lag”. Cascade control approach consists of two loops, inner current loop and outer speed loop. The inner current loop consists of a dc motor, H-Bridge converter and proportional integral controller. The outer speed loop contains the inner current loop and another proportional integral controller. The motor has an encoder (speed sensor) attached to it and is used to measure the actual speed. The actual speed will be subtracted from a given demand speed to give an error which will be inserted into the outer-speed-PI controller. The output of the speed-PI controller represents the demand current. This demand current has to be limited within a specific range (motor rated current). After that it will be inserted into a summation block where the actual (measured) current will be subtracted from the demand current to give an error which will be inserted into the inner-current-PI controller. The actual current can be measured using a current sensor connected to one of the motor phases (Phase A). The output of the current-PI controller represents the modulation index which will be inserted into the PWM circuit and H-bridge converter to produce the armature voltage that will supply the motor. Within the cascade control approach, speed can be controlled so that any change happening in load torque will not affect the amount of speed produced.
 

Robotic Clip with Touch screen

This project was a successful combination between touch screen, Arduino MEGA and two servo motors. The aim of this project was to control two servo motors using touch screen attached to Arduino MEGA 2560. If statement was used to create the loops that control the motors, one outer if and four inner if’s. The outer if works in case of a pressure was applied on the screen between 10 – 1000 binary quantity.

Avoiding obstacles robot

Avoiding obstacles robot is a self-operating robot that has the ability to avoid objects placed in front of it. The robot as shown in the figure below contains three wheels of which two can be controlled using DC motors with a gearbox. It also has an ultrasonic sensor used to detect objects.The ultrasonic sensor and DC motors are controlled using Arduino UNO board. A single servo motor was used to allow ultrasonic sensor moves in 180 mechanical degrees. The first thing this robot will do when it first starts is that, the servo motor will move the sensor to the left for half second, then to the right, then stop at the centre (front direction). This movement allows sensor to detect objects in 3 directions, at 0∘ (Right), 90∘ (Centre) and 180∘ (Left). Each time the sensor is facing one direction, it measures the distance between the nearest object and robot at that direction and then stores it in one of the following variables depending on the direction: LeftDistance   180 degree RightDistance   0 degree ForwardDistance  90 degree The distance measurement is calculated inside the controller and before it is stored inside the variables is subjected to the speed formula. 𝑑𝑖𝑠𝑡𝑎𝑛𝑐𝑒 = 𝑡𝑖𝑚𝑒 ∗ 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 ⟹ 𝐷 = 𝑡 ∗ 𝑣

𝑣 is the speed of sound which is 340 m/sec. 𝑡 is the time it takes pulse to leave and return to sensor. Echo pin is the one who supplies Arduino with this time. 𝐷 is the needed distance.

Line following robot
The line follower is a self-operating robot that has the ability of detecting and following a line. The line can be represented as a black colour tape fixed on a white surface. The robot has 3 wheels of which two can be controlled by two DC motors with a gearbox, and two infrared sensors that were used in this robot to detect the black line. The IR-sensors produce signals each time they pass over black line. These signals will be transmitted to Arduino board as voltages, zero volt means white surface, 3.5 volt means black line. These voltages will determine which motor should spin faster than the other so the robot keep following the line and never touch it.

Robotic hand

In a time that is almost not free of wars, especially in Iraq. The country which went through conflicts and wars that led to the occurrence of many kills and wounded's people, and the most common injuries are the loss of limbs .. This has stimulated us in the field of our study to contribute to the treatment of these injuries by establishing a robotic hand .. which we will talk about in our report. 

The arm is designed by a 3-D printer and this arm contains precise joints similar to humans arm joints. This arm contains 8 motors, 5 motors for fingers movement one motor per finger, and includes two motors for forward and backward movements of the full hand, as well as a high torque motor for arm rotation. The injured will wear the robotic arm and can control it using his another arm. The control type is a wireless control by using Arduino Nano and NRF transceiver.

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