Automatic Gate Controller
Table of ContentsINTRODUCTION1BOOM-BARRIER:3Pictorial
Representation of the Solution ..13Software configuration14Benefits
of the Solution16(i) Drawings:17(ii) System Documentation18(5)
QUALITY ASSURANCE:19POWER SUPPLY :20SENSING CIRCUIT
DIAGRAM21WORKING OF CIRCUIT22FUNDAMENTALS OF MOTOR232. SPEED243.
POWER252. Motor Characteristics27TORQUE/SPEED CURVES27POWER/TORQUE
and POWER/SPEED CURVES30SEMICONDUCTOR H-BRIDGES31CIRCUIT
DIAGRAM34WORKING OF CIRCUIT35INFRARED TRANSMITTER AND RECEIVER
CIRCUIT38INTRODUCTION TO MICROCONTROLLER39COMPLETE CIRCUIT
DIAGRAM44Regulator45PARTS AND PRICE LIST48BIBLOGRAPHY52
INTRODUCTION
We propose to implement Project for Automatic Boom Barrier for
your Organization by supplying & Testing our RFID Hardware with
International Standard.
.. In a Manufacturing and Organizational kind of environment,
RFID System has significant potential in preventing the theft of
Vehicle & Goods loaded in the Vehicle from Company/Office and
streamline time consuming operations such as manual security check
by guard at exit point of Company/Office.
.. The application developed is compatible with many
international standard RFID Readers i.e. - CSL, Motorola, Intermac,
Marktrace, Impinj, Alien and many more.
4
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
A credible Vehicle Identification and Automatic Weighing System
is essential for any industry for prohibiting the passage of
unauthorized vehicles and for them who are using the measurement of
weight as a benchmark for sale of a product.
Manual Inaccuracy in payload weights can be created by either
inaccurate gross weights or variability between the tare weight of
the truck and the actual weight of the truck (gross weight minus
payload) at the time of gross weighing.
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.
Provision for manual operation shall also be produced by the
vendor.
Purchasers LAN network being laid by third party would be
utilized to extend the Boom Barrier and Turnstile connectivity to
central server.
All boom Barriers/Turnstiles shall have connectivity to non- PoE
port of purchasers networking switches on LAN.
UPS Power supply for each Boom Barrier /Turnstile.
Tentative locations of Boom Barrier/Turnstile are indicated in
the IP CCTV, ACS , Boom Barriers and Turnstiles layout drawing
enclosed with this tender.
JBs , power supply etc. shall be in IP-66 housing.
Supply, installation, testing, connecting and commissioning a
high quality fast-acting gate automation system at CDRI campus.
The entire system should be as per BOQ, drawings and technical
specifications mention under this part.
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.
Power supply unit as required for Boom Barrier/Turnstiles.
Integrated testing and commissioning of Boom Barriers and
Turnstiles on LAN being provided by the third party in CDRI
campus.
Training & handing over of all materials, equipment and
appliances
Any other items/accessories required for installation,testing
and commissioning of Boom Barriers and Turnstiles.
5
We Proposes a Passive RFID based Vehicle Management Solution and
Automatic Data Capturing from Weighbridge, providing a complete
industrial solution.
According to the need, size and scale of the industry we can
propose the robust RFID Readers best suited for the
implementation.
This is achieved as the application developed is capable to
trigger more than 10 different RFID Readers.
Now each Weighbridge will have boom barriers, and entrance of
Weighbridge equipped with RFID readers and circular antennas.
6
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.
2) ACCESS CONTROL SYSTEM ( BARRIER):
(i) DESIGN CONCEPT
Access Control System is designed for the entrances and
corridors of main buildings of CDRI campus as follows:
-Entrance of the Administration block
- Entrance of the Computer hub
- Front and back entrances of the laboratories and connecting
corridors
- Entrance of the Special Equipment and lab engineering
services
- Entrance of the Chemical Storage
- Front and back entrance of the Animal House
- Hospital dispensary for time attendance - For all
boom-barriers except main gate - For all turnstiles except main
gate
Access control system shall be based on proximity card
technology in order to restrict the entry of unauthorized
people.
Proximity Cards will be issued to the staff members, students
and visitors of CD RI.
The Access control system shall provide access through the
protected doors for only those card holders whose entry is
allowed.
The access controller shall provide the status of each card,
reader and control door.
Purchasers LAN network being laid by third party would be
utilized to extend the BARRIER connectivity to central server.
All controller/reader of BARRIER shall have connectivity to non-
PoE port of purchasers networking switches on LAN.
UPS Power supply for each BARRIER.
Tentative locations of BARRIER are indicated in the IP CCTV,
BARRIER , Boom Barriers and Turnstiles layout drawing enclosed with
this tender.
All outdoor items shall be in IP-66 housing.
The BARRIER shall be a software-based solution and shall be
flexible enough to work with multiple Hardware providers. The
software shall include all the features /requirement for BARRIER as
specified in the specifications
The BARRIER shall be based on TCP/IP network protocol and shall
communicate with Ethernet ready, TCP/IP based components.
The BARRIER software shall be capable of running on windows or
Linux server platforms with full- feature operation.
The Controller shall be capable of operating independently if
communications with the Host Server is lost.
Provide supervisory specialists and technicians at the job to
assist in all phases of system installation, start up and
commissioning.
Cat 6cable/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 documents.
230 volts AC Power supply distribution from UPS to each location
of BARRIER along with DBs ,JBs, cabling work etc. with required
accessories.
Power supply unit as required for BARRIER.
Integrated testing and commissioning of BARRIER on LAN being
provided by the third party in CDRI campus
Training & handing over of all materials, equipment and
appliances
Any other items/accessories required for installation, testing
and commissioning of Access Control system.
No extra cost shall be paid for any miscellaneous items, if
required to complete the work as per design concept.
7
Fig: - A Container Truck Moving on the WEIGHBRIDGE mounted RFID
Reader Capturing the Data.
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.
Pictorial Representation of the Solution ..
13
Software configuration
The system can be connected to a central host or be used in a
stand-alone configuration.
14
The Reader has an internal database
to which the ID-tags unique identities can be uploaded though
software user interface.
The reader checks the identity and accepts/rejects the ID-tag
based on ID-tag status and software will also interacts with the
weighbridge and records the net weight of the Vehicle.
This is a cost effective solution for remote installations,
where it is difficult or expensive with cable connections to a
central host.
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15
Benefits of the Solution
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.
Simultaneously, this can protect the problem of cloning
truck.
Additionally the RFID and weighing program is integrated with
weighbridge.
As a result the problem of duplicating or artificial weighing
can be removed completely.
Delivery materials through weighbridge requires many operation
steps starting from queuing, registration for weighing ,pre and
post loading.
These process are operated manually.
At the end of weighing , it is needed to repeat doing data entry
into ERP system for further process.
These operations are not only waste of time but also tend to
have high error rate because of human intervention.
This also opens room for man made fraud which can cause
financial loss to any enterprises.
(i) Drawings:
The system supplier shall submit all shop drawings, and bill of
materials for approval /reference.
Drawings shall be submitted in standard sizes as indicated
Four complete sets (copies) of submittal drawings shall be
provided.
Drawings shall be available on CD-ROM.
CCTV, Access Control System, Boom Barrier and Turnstile layout
drawing ( A1 size)
Installation drawing for each item ( A3 size )
Bill of Materials ( A4 size)
Cable connectivity drawings and cable schedule. ( A3 Size)
Power distribution scheme ( A3 size)
Specifications and data sheet for each item (A4 size)
List of software and software licenses,(A4 size).
Test certificates, Internal test reports etc.
(ii) System Documentation
System configuration diagrams in simplified block format.
Manufacturer's instructions and drawings for installation,
maintenance, and operation of all purchased items.
Overall system operation and maintenance instructionsincluding
preventive maintenance and troubleshooting instructions.
A list of all functions available and a sample of function block
programming that shall be part of delivered system.
Shop drawings of card reader stand, canopy/shed as approved by
consultant.
Test certificates and internal test reports for each item
Quality Assurance Plan
Operation and maintenance manuals.
(5) QUALITY ASSURANCE:
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.
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.
SENSING CIRCUIT DIAGRAM
WORKING OF CIRCUIT
FUNDAMENTALS OF MOTOR
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.
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
Speed (Angular Velocity)
The rate of rotation around an axis usually expressed in radians
or revolutions per second or per minute
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 velocity, is typically measured in radians/second {rad/s},
revolutions/second {rps}, or revolutions/minute {rpm}.
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.
NOTE:
1 revolution = 3601 revolution = (2*) radians1 radian = (180/)1
= (/180) radians
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 Power a. Ability to act or produce an effect
b. A source or means of supplying energy; especially:
ELECTRICITY
c. MOTIVE POWER the time rate at which work is done or energy
emitted or transferred
Power in Rotational Motion
When you pedal a bicycle, you apply forces to a rotating body
and do work on it. Similar things happen in real-life situations,
such as a rotating motor shaft driving a power tool or a car engine
propelling the vehicle. We can express this work in terms of torque
and an angular displacement...What about the power associated with
work done by a torque acting on a rotating body? dW/dt is the rate
of doing work, or power P. When a torque T (with respect to the
axis of rotation) acts on a body that rotates with angular velocity
W, its power (rate of doing work) is the product of the torque and
angular velocity. This is the analog of the relation P = Fv for
particle motion.
Power in rotational motion can be written as:
UNITS of POWER
SI
English
Watts {W}newton-meters per second {Nm/s}1 W = 1 Nm/s1 W = 0.738
ftlb/s1 W = 1.341E-03 hp
foot-pounds per second {ftlb/s}horsepower {hp}1 ftlb/s =
1.818E-03 hp1 ftlb/s = 1.356 W
2. Motor CharacteristicsTORQUE/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.
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 no load speed,, is the maximum output speed of the motor
(when no torque is applied to the output shaft).
The curve is then approximated by connecting these two points
with a line, whose equation can be written in terms of torque or
angular velocity as equations 3) and 4):
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 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 = .
POWER/TORQUE and POWER/SPEED CURVES
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.
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.
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 N-Channel 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 H-Bridge circuit.
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
CIRCUIT DIAGRAM
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 H-bridge 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
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 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.
Notes on circuit assembly:
Transistors Q1, 2, 3 and 4 must be heat sunk. Insulators should
be used, or two separate heat sinks isolated from each other and
the rest of the world. Note that Q1 and Q3 are grouped together and
share common collectors and can share a heat sink. The same is true
for Q2 and Q4.
Operation over 3 kHz will lead to higher losses. If it is
required to run at higher frequency, additional pinch-off resistors
can be added to Q1,2,3 and 4, supplementing the internal resistors.
A good value would be 1k, and the resistors should be soldered from
base to emitter.
To reduce RF emissions, keep the wires between the circuit and
the motor short. No freewheel diodes are required; they are
internal to the TIP series Darlington transistors.
Drive the circuit from 5-volt logic. Drive levels higher than 5
volts will tend to heat up R1 and 2. This is OK for short periods
of time.
Power supply voltage is 5 to 40 volts. Output current up to 5
amps is allowed if the power supply voltage is 18 volts or less.
Peak current must be kept below 8 amps at all times.
There is no current limiting in this circuit. Reversing a motor
at full speed can cause it to draw huge currents, understand your
load to avoid damage. There are higher powered devices in the TIP
series of Darlington transistors; these can be substituted if
needed. Look at the TIP140 and TIP145, please note they are in a
bigger package and dont fit the PC board layout.
INFRARED TRANSMITTER AND RECEIVER CIRCUIT
INTRODUCTION TO MICROCONTROLLER
INSTRUCTION SETS
INSTRUCTION SET SUMMARY
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
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.
All examples use the following format to represent a hexadecimal
number:
0xhh
where h signifies a hexadecimal digit.
FIGURE 13-1: GENERAL FORMAT FOR INSTRUCTIONS
A description of each instruction is available in the
PICmicro Mid-Range Reference Manual, (DS33023)
TABLE 13-2: PIC16CXXX INSTRUCTION SET
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.
COMPLETE CIRCUIT DIAGRAM
POWER SUPPLY
POWER SUPPLY CIRCUIT DIAGRAM
Regulator
Voltage regulatorPhotographRapidElectronics
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 information about voltage
regulator ICs.
zener diodea = anode, k = cathode
Zener diode regulator
For low current power supplies a simple voltage regulator can be
made with a resistor and a zener diode connected in reverse as
shown in the diagram. Zener diodes are rated by their breakdown
voltage Vz and maximum power Pz (typically 400mW or 1.3W).
The resistor limits the current (like an LED resistor). The
current through the resistor is constant, so when there is no
output current all the current flows through the zener diode and
its power rating Pz must be large enough to withstand this.
Please see the Diodes page for more information about zener
diodes.
Choosing a zener diode and resistor:
1. The zener voltage Vz is the output voltage required
2. The input voltage Vs must be a few volts greater than Vz
(this is to allow for small fluctuations in Vs due to ripple)
3. The maximum current Imax is the output current required plus
10%
4. The zener power Pz is determined by the maximum current:
Pz>VzImax
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.
1. Vz = 4.7V (nearest value available)
2. Vs = 8V (it must be a few volts greater than Vz)
3. Imax = 66mA (output current plus 10%)
4. Pz > 4.7V 66mA = 310mW, choose Pz = 400mW
5. R = (8V - 4.7V) / 66mA = 0.05k = 50, choose R = 47
6. Resistor power rating P > (8V - 4.7V) 66mA = 218mW, choose
P = 0.5W
PARTS AND PRICE LIST
SNo.
Part No.
Part Description
Qty.
Price
1.
PIC16F72
8 BIT MID RANGE MICROCONTROLLER
1
200.0
2.
TIP 122
DARLINGTON NPN POWER TRANSISTOR
4
80.0
3.
ULN2803
Octal Darlington transistor array
1
40.0
4.
TIP 127
DARLINGTON PNP POWER TRANSISTOR
4
80.0
5.
1N4007
Si Diode
28
28.0
6.
LM7805
5V fixed voltage regulator
1
7.0
7.
1000uf/25v
Electrolytic capacitor
1
10.0
8.
10k
watt resistance
9
1k
watt resistance
15
4.7
watt resistance
6
820R
watt resistance
17
3.9K
watt resistance
10
9.
1N514
LED 2V
19
40.0
10.
T1
Transformer 0-12V /1A
1
125.0
11.
PCB
Printed circuit board
100sqin
250.0
12.
12x15
Mounting Board
30.0
13.
DM12B500
PERMANENT MAGNET DC GEARED MOTOR
2
1400.0
14.
4 inch wheels
RUBBERISED TOY CYCLE WHEEL
2
80.0
15.
Bakelite Sheet
250gm
50.0
16.
LM324
QUAD OP AMP
1
15.0
17.
NE555
TIMER IC
4
40.0
18.
BC 547
GENERAL PURPOSE Si NPN TRANSISTOR
8
16.0
19.
MT42
MICROSWITCH PUSH TO ON TYPE SINGLE CONTACT
4
20.0
20.
CONECTING WIRES
70.0
21.
TL91
PHOTO DIODE
3
150.0
22.
TL92
PHOTO TRANSMITTER
3
120.0
23.
TSOP1738
38 KHz IR RECEIVER
1
40.0
24.
IR218
INFRARED LED
1
10.0
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.
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