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Electronics From the assigned by the head of the group responsible for electronics of automatic robot which automatic robot must follow the map page, it is placed for the competition of my group. Automatic Robot have components of each section such as 1. Microcontroller Circuit 2. DC Motor Drive Circuit 3. Receiver Signal Circuit 4. Sensor Circuit 5. Digital Circuit 6. Power supply and charge circuit Which components of each section must be connect to each section but before we will build automatic robot, we must find the information about each section and programming support. Which programming can be simulation of microcontroller circuit and each section used in automatic robot such as 1. Program Protel 99 SE SP6 2. Program Protel DXP 3. Program Altium Designer 4. Program Pspice Which program of each program can be simulated, analyzed, calculated and building layer circuit on PCB( Printed Circuit Board ). From assignment, I find data and information of each section to take the concept and application with automatic robot. 1. Microcontroller Circuit, I must to find information and data of circuit which I must design the circuit myself, this circuit must be used interface with Microcontroller Device or I find Microcontroller Board, which it can support with programming language of programmer and interface with other devices. 2. DC Motor Drive Circuit, I must to find data and information of DC motor drive circuit which automatic robot of my group must forward, rearward, turn right, turn lift and rotate itself, which I use H-Bridge Motor Drive circuit. H-Bridge Motor Drive can cause motor rotation and used for control DC Motor 3. Receiver Signal Circuit, I must to design circuit about receiver signal which automatic robot of my group must receiver signal from manual robot to order to the arm to keep the orange and to put the orange on collection basket. 4. Sensor Circuit, I need to study multiple sensor types in the group now because we do not know which is the sensor will be fit. Before design the sensor circuit, you should to study from previous datasheet to determine the length of the capture of the sensor such as TCRT5000 is sensor that uses infrared light to reflect and appropriate for the robot to follow a line. 5. Digital Circuit, IC, I need to learn and use the IC which each IC is different option. Digital Circuit a duty to control the operation of the automatic robot which is an important part. I need to use the program to assist in the design circuit because I must to make a small and workable. 6. Power supply and charge circuit, I must to study about IC for power supply circuit and form of circuit for design circuit which this circuit need to be in charge themselves when plugs on at 220 volt and must be able to calculate the time when to charge full battery. From the assigned by the head of the group responsible for electronics of automatic robot which automatic robot must follow the map page, it is placed for the competition of my group. This week, I find the detail of each part and IC for each part and to find datasheet contains the design circuit.
DC Drive Motor Section, I used to DC Drive Motor is the H-Bridge circuit which can control the motor rotation is free but DC Drive Motor circuit generally very large circuit and require some devices into control a motor which I think that I should select IC for DC Drive Motor to reduce the size of the circuit and I can control the motor rotation. I will use IC TA7279P for drive dc motor because it easy to use, IC number TA7279P is IC for DC Drive Motor Circuit which have characteristics different from general IC drive motor is function “Break” when I sent logic 11 into IC drive motor and IC TA7279P device can be control up to 2 DC Motor which received voltage from 0 to 18 V and output to circuit at current 1.0A (AVE), 3.0A (PEAK). TA7279P to bring you nothing complicated and it does not need as many devices to use but can be work alone itself. In addition, within IC have functions to break working when overheat, and current limit.
TA7279P, DC Drive Motor Circuit
Which I must connect capacitor 10uF for by part noise into the DC Drive Motor Circuit.
From the table that will be interesting to work in 2 mode are stop and break which many people may think that 2 mode with the same, motor is not rotation, but it really different. STOP – motor disconnect from source which will gradually slow down and stop close. BREAK – the motor will be try to stop it. Sensor Section, sensor number TCNT1000 using track line which it is reflective optical sensor with transistor output which into the sensor has a radiation or symbol of LED lamp, light is sent out to strike the floor, and then reflected back to the photo transistor when floor is white. If light is black which sensor will be reflected light is a few. Then calculate the resistance which will be limited the voltage of the transmitter and receiver. -Transmitter, must see the value to the Forward current, Forward voltage graph and set voltage from source to Vcc and use KVL in principle, and calculated value for resistor. -Receiver, must see the value for the Collector current, Collector emitter voltage by a graph which uses 2 statuses Saturated at capture white and cut off when handing black. Resistors are calculating from Saturated than also must see that the distance from the floor sensor signals.
Sensor, TCRT5000
Schematic of Sensor Calculate Schematic of Sensor From graph, Collector Current and Forward Current
Set, V+ = 5V, IF = 10mA and IC = 1mA. R1 = 5V/1mA = 5k? R2 = 5V/10mA = 500?
Power Supply and Charger Section, Power Supply circuit of automatic robot will be divided into 2 parts is DC Drive Motor Circuit and Drive electronics circuit which will be divided into 5 V and 12 V. 5 V will be used for service in electronics circuit of automatic robot. 12V will be used for service in DC Drive Motor circuit of automatic robot. And current and voltage will be come from all battery 12V which we can be regulated voltage to the rest equal 5V by IC regulator number LM7805. Proposition and the competitive robot must be able charge battery by itself when I plug in the AC electricity and it can open circuit when voltage level is less than a battery can work to prevent damage which I use IC number LM324 into compare voltage level of battery and automatic robot can be charged battery by use a diode connect with battery which defend the current reverse.
Position Sensor of Automatic Robot
From the assigned by the head of the group responsible for electronics of automatic robot which automatic robot must follow the map page, it is placed for the competition of my group. This week, I design circuit and calculate voltage and current for sensor circuit, Torque of DC Motor and charge battery circuit, calculate circuit and simulation circuit by Proteus Programming.
Sensor Circuit Section
Sensor Detect Line Set; IF = 10mA, IC = 0.1mA, VCE, sat = 0.4V, VCE = 5V and VF = 1.25V Which length detect = 12mm from datasheet Calculate; R1 and R2 R1 = R2 = Therefore, when sensor does not detect white line, Vsensor will be equal 5V or VCE of TCRT5000. But when sensor does detect white line, Vsensor will be equal 0V because VCE of TCRT5000 will bias current to ground which Vsensor will be equal 0V and I use Vref = 2.5V
Sensor Detect Basket I used TSUS4300 and TEFT4300 which TSUS4300 is IR emitter diode and TEFT4300 is infrared phototransistor NPN because TSUS4300 is a high efficiency infrared emitting diode and have low forward voltage, and TEFT4300 is high speed and high sensitive silicon NPN and match with TSUS4300 infrared emitter.
Calculate; R3 and R4 Set; IF = 37mA and VF = 1.3V at 25 C for TSUS4300 R1 Set; IC = 1mA, VCE = 5V and VCE, sat = 0.3V at 25 C for TEFT4300 R2 Therefore, when sensor does not detect basket, Vsensor will be equal 5V or VCE of TEFT4300. But when sensor does detect basket, Vsensor will be equal 0V because VCE of TEFT4300 will bias current to ground which Vsensor will be equal 0V.
NE555 for frequency 38 kHz Calculate for frequency 38 kHz Set; f = 38 kHz, Duty Cycle = 70% and Cext = 0.001µF Calculate; R1 and R2 T = 70% =
R2 = R1 =
TSOP4838 Calculation of IR Remote Receiver module (TSOP4838) Set; IF = 1.5mA and VF = 2V R3 =
Spec DC Motor Calculate; Torque and Power of Dc motor Automatics Robot has 3-wheel which each wheel is balance for all. Set; Weight of automatic robot = 1.1Kg, µ = 1 and g = 9.81 Calculate the weight of automatic robot to each wheel = Ffriction = µmg =
P = V = Therefore, when compare between torque of stall state of dc motor and torque from calculate that torque of dc motor of stall can be win torque of calculate from automatic robot which automatic robot can be forward and revert with velocity equal 0.147 . From the assigned by the head of the group responsible for electronics of automatic robot which automatic robot must follow the map page, it is placed for the competition of my group. This week, I design circuit and calculate voltage and current charge battery circuit calculate circuit and simulation circuit by Proteus Programming and design PCB of each circuit by Protel 99SE Programming
Charger Circuit
Calculate charger circuit Transformer 12 ;
Fuse The regulator can supply the max current to 1.5A per one. This circuit uses two regulators, the max current are 3A. From the ideal transformer
We select the fuse 0.5A Calculate Vo and Vcharge from R1 and R2 Set ; R1 = 220 R2 = 2.2k Vref = 1.25V Iadj = 50uA Formula of Vo; Vo = Vref +IadjR2 Vo = 1.25(1+ )+(50u)(2.2k) Vo = 13.86 V Find Vcharge; Vcharge = Vo - VD Vcharge = 13.86 – 0.7 Vcharge = 13.16 V. Calculate Icharge =? Set; Rs = 1? Formula of Icharge; Icharge = Icharge = Icharge = 1.25A Calculate time for charge battery Formla of time; t = t = t = 3.84h So time to charge will be equal to 3.84 hour when the charge by current 1.25A.
From the assigned by the head of the group responsible for electronics of automatic robot which automatic robot must follow the map page, it is placed for the competition of my group. This week, I design circuit and calculate voltage and current for sensor circuit, DC-motor drive circuit, disconnect circuit, charge battery circuit, calculate circuit and simulation circuit by Proteus Programming.
Sensor Circuit Section
TCRT5000 I used TCRT5000 for track line of automatic robot which has sensing distance 12 mm and have a photo transistor and LED IR into the same. Calculate, R1 and R2 From graph; IF = 10mA, IC = 1mA, VF = 1.1V and VCE = 1V Formula; R1 = R2 = Therefore, TCRT5000 used all current equal 11mA per each
TSUS4300 and TEFT4300
I used TSUS4300 and TEFT4300 which TSUS4300 is IR emitter diode and TEFT4300 is infrared phototransistor NPN because TSUS4300 is a high efficiency infrared emitting diode and have low forward voltage, and TEFT4300 is high speed and high sensitive silicon NPN and match with TSUS4300 GaAs infrared emitter Calculate, R3 and R4 From datasheet; IF = 37mA and VF = 1.3V at 25 ?C for TSUS4300 R3 From datasheet; IC = 3.2mA and VCE = 0.3V at 25 ?C for TEFT4300 R4 Therefore, TSUS4300 and TEFT4300 are used all current equal 40.1mA per each
TSOP4838 I used TSOP4838 is receiver frequency signal at 38kHz from manual robot send to order to keep orange to basket which frequency signal 38kHz come from IC number NE555 create frequency 38kHz into manual robot Calculate, R5 From datasheet; IF = 1.1mA R5 = 4545? ≈ 4.5k Therefore, TSOP4838 used all current equal 1.1mA per each
DC-Motor Drive Circuit Section
DC Motor with Gear L293D and DC Motor Gear Circuit I used IC number L293D for all drive DC Motor in circuit which L293D have output current capability per channel equal 600mA and DC-motor for moving automatic robot need current equal 600mA for drive motor which matching between L293D and DC Motor. DC Motor with gear have speed motor equal 40 r/min, torque equal 0.120 N.m and output equal 0.6w
Calculation all the current in circuit 1. Sensor for track line using the current equal 11mA per item. 2. Sensor for track basket using the current equal 40.1mA per item. 3. Photo Transistor for 38 kHz using the current equal 1.1mA. 4. DC-Motor and IC drive motor using the current equal 600mA per channel. I total = 4(sensor line) +2(sensor basket) +Phototransistors +2(Drive Motor) I total = 4(11mA) +2(40.1mA) +1.1mA +2(600mA) I total = 44mA +80.2mA +1.1mA +1200mA I total = 1325.3mA
Battery Charger Section
Transformer 12
Output voltage from bridge diode at point A and B when disconnect the capacitor C1and C2 Voltage at point A and B when connect the capacitor C1 and C2
We select C 0.1uF 16V or 25V Fuse The regulator can supply the max current to 1.5A per one. This circuit uses two regulators, the max current are 3A. From the ideal transformer
We select the fuse 0.5A
Disconnect Power Supply by transistor section
Calculate, R1 and R5 From datasheet of LED Light; VF = 2.2V and IF = 10mA Formula; R5 = R5 ≈ 1k I select R5 equal 1k From datasheet of BD139; VCE = 0.5V, IC = 1.5A and β = 40 IB = R1 = R1 ≈ 300 I select R1 equal 300
Disconnect Power Supply by relay section
From datasheet, JV12KT; P = 300mW and R coil = 480 LED Light; VF = 2.2V and IF = 10mA BD139; VCE = 0.5V and β = 40 Calculate, R4 and IC R4 = R4 ≈ 1k IC = IC = Power at IC, P = IV P = 0.023 X 12 P = 276 mW So, IC have power equal 276 mW which compare with datasheet of nominal power coil are less than Voltage across R5 equal 3.84V by measure IB =
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100
4700 
0.18W
= 390
= 0.023A
= 38.4 mA
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