DC Brushless Motor Control Design and Preliminary Testing for Independent 4-Wheel Drive Rev-11 Robotic Platform

Abstract

Makalah ini membahas tentang desain sistem kendali motor DC brushless menggunakan microcontroller ATMega 16 untuk diimplementasikan pada independent 4-Wheel drives pada platform Mobil Robot LIPI versi 2 (REV-11). Sistem kendali yang dibuat terdiri dari 2 bagian yaitu modul kendali motor DC brushless dan kendali supervisor yang berfungsi untuk mengoordinasi perintah ke modul-modul kendali motor. Untuk mengendalikan platform REV-11, kendali supervisory mengirimkan data referensi berupa kecepatan dan arah pada modul kendali motor sebagai referensi untuk mengendalikan kecepatan dan arah dari masing-masing aktuator pada platform REV-11. Dari hasil pengujian disimpulkan bahwa sistem kendali yang didesain sudah mampu berfungsi dengan baik untuk mengkoordinasi dan mengendalikan kecepatan dan arah gerak motor aktuator platform REV-11.

Algorithm of 32-bit Data Transmission Among Microcontrollers Through an 8-bit Port

“…Pins used as data in both unsigned long integer and long integer data types are pin 0-4, while in float data type are pin 0-3. In the second block of data transmission, pin 0 in long integer and float serves as an identifier that the data sent is positive (0) or negative (1). Pin 4 on float serves as the identifier that the data sent is an integer (0) or fractions (1).…”

“…In the second block of data transmission, pin 0 in long integer and float serves as an identifier that the data sent is positive (0) or negative (1). Pin 4 on float serves as the identifier that the data sent is an integer (0) or fractions (1). Pin 5 in any data type serves as the identifier from the transmitter indicating that the data is ready to be read by the receiver.…”

“…In a complex system, the use of multiple microcontrollers is typically required to handle each sub section. Therefore, a communication among microcontrollers is needed [1,2]. The number of the microcontrollers that can be connected and the number of data that can be sent are very determines in the communication media selection.…”

“…Research that applied communication between microcontrollers via UART using Zigbee wireless have been carried out by Reddy [3] and Thakur [4]. A similar thing has been done by Saputra [1] using a YS-C20K type of wireless module. In Leeman research [5], communication between microcontrollers via UART was performed using RS-232 cable, while Solanke [6] using a wireless RF at frequency 433.92 MHz.…”

“…Communication among the microcontrollers also can be made using an 8-bit port. Research that applied communication among the microcontrollers through an 8 port have been done by Saputra [1] and Mirdanies [2], however the number of data are limited to 8 bits only (0-255 decimal). Communication among the microcontrollers through multiple 8-bit ports can also be done by adding port expander [9], but this method is not optimal due to the addition of several devices and coding is not practical.…”