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Team Lifted: Critical Design Review

Team Lifted: Critical Design Review . Andrew Cober Dan Crowe Sujan Gautam Anthony Schubert Ryan Yeash. Overview / Revised Goals Dan Crowe. Overview. Project Problems and Design Modifications Hardware/Schematics Electromagnet Construction Firmware/Software Logistics and Administration

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Team Lifted: Critical Design Review

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  1. Team Lifted:Critical Design Review Andrew Cober Dan Crowe Sujan Gautam Anthony Schubert Ryan Yeash

  2. Overview / Revised GoalsDan Crowe

  3. Overview • Project • Problems and Design Modifications • Hardware/Schematics • Electromagnet Construction • Firmware/Software • Logistics and Administration • Questions

  4. Project: Magnetic Control • Use electromagnets to control the position of a magnetic object • Control x and y position • Control object through a user interface • First approach: buttons • Second approach: touchscreen

  5. Problems Encountered • Power limitations • Prefabricated Electromagnets have undesired design • Iron core laminates disappointing • Buck converters unable to source sufficient current

  6. Design Modifications • Control object on 2D surface • Construct electromagnets powerful enough to meet specifications • Use ferrite cores for lower core loss • Implement H-bridge to divert current • Control position of a magnetic object • Apparatus made of plexiglass

  7. Revised Goals • Effectively control the object with 1cm accuracy in 2-D plane • Touchscreen sensing • Touchscreen interface • Object follows a user defined path

  8. Revised Design • Four electromagnets mounted on a platform • Cyclone II FPGA used to control the current to the electromagnets through H-bridge • Control based on position of the object • Touchscreen

  9. Hardware/Schematics Ryan Yeash

  10. Hardware Block Diagram

  11. ADC Conversion Circuit

  12. RS232 Connection

  13. JTAG Connection

  14. Power Circuitry

  15. Electromagnet Control

  16. Electromagnet SpecificsSujan Gautam

  17. Electromagnets • I-Core solenoid 3.5”x1”x1” • Ferrite core for low power loss and high magnetic flux density • 18 AWG wire to handle sufficient current and lower resistivity • 100-200 turns depending on field output

  18. Some Calculations • Length  3.5” • Number of turns  100 • DC current  5 A • Relative permeability  200 • B  0.5 Tesla • This does not take into account the core and wire loss

  19. Firmware SpecificsAnthony Schubert

  20. Some Altera Details • HAL • Hardware Abstraction Layer • An API (Application Programming Interface) for use with Altera’s Nios II modules • Allows easy C programming • Parallel I/O • General purpose interface for peripherals • Allows for many possible configurations

  21. FPGA Configuration

  22. Current Tasks • Interrupt-driven user interface • Have been using HAL API to write interrupt handlers for button inputs • Will eventually use for user input • SRAM • Configured Cyclone II on development board to use off-chip SDRAM • Would prefer to use off-chip SRAM • Smaller but faster • Need off chip memory to use HAL • Start processing ADC input

  23. Controller Firmware • Proportional Controller • Implemented through control of electromagnets with PWM • Derivative Controller • Implemented by calculating the rate at which the object is moving • Hence PD control

  24. Software Flow Diagram Power on Initialize Hardware Activate Magnets Object Detected? No Start User Input Yes No User shift? Center Object Yes Yes No Object Shifted? Shutdown Sequence

  25. Logistics and Administration Andrew Cober

  26. Cost

  27. Division of Labor R – Responsible and CI – Consult and Inform Everyone is informed when a task is completed or needs further assistance

  28. Timeline Estimate

  29. Milestones • Completed • CDR: Obtained most parts, started development of software framework, FPGA PCB design completed

  30. FPGA PCB Layout Rev. 1

  31. Milestones Continued • Still to come • M1: Simple one dimensional control and movement of object • M2: Control x and y coordinates of the object • Expo: Path control and completion of project

  32. Questions ?

  33. Extra Slides

  34. Risks • Power limitations into the magnets may limit object size • Control complexity may be too difficult to implement • May have to rescale from FPGA to MSP

  35. Contingency Plans • Use photo diodes rather than touchscreen for object position control

  36. Possible Extensions • Addition of LCD to display object data • Touchscreen for user control • Trackball control • Wireless communication between apparatus and user interface • Implement multi-core processing on Cyclone II

  37. NiosII Softcore

  38. FPGA Configuration • Cyclone II FPGA • Nios II softcore processor • LCD controlled using FSM • Receives commands and data from NIOS II via parallel I/O • May switch to built-in LCD module • Parallel I/O for button inputs • JTAG module for programming/debug • SRAM/SDRAM controller

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