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Components & Parts
Car Chassis
A 4WD chassis kit with motors and Hall Effect Sensor kit is what is being used for the car.
Electrical Motor & Speed Sensor
The 4 motors that are being used are DC electric motors with a 75:1 gear reduction camshaft.
Each motor has a two Hall Effect Sensors attached to the back side of the motor so the direction of which way the motor is turning can be determined. Also, the speed at which the motor is turning can be determined.
The Hall Effect is when a voltage is produced across an electrical conductor when a magnetic field is in close proximity to the direction of electrical current flow.
A Hall Effect Sensor is a device that turns on when a magnetic field is close in proximity to the sensor.
The two Hall Effect Sensors are located around the backside output shaft of the motor that has magnetic material inside of the small wheel.
The backside output shaft that rotates 75 times per front output shaft revolution.
Both Hall Effect Sensors for speed detection and motor direction.
Controlling the Motors
This is a motor controller for controlling how much power is being delivered to the DC motors. The way that power is controlled to the motors is through a technique called "Pulse Width Modulation" (PWM). This technique is carried out by changing how long the power delivered to a motor or a device is ON and OFF.
Here is a visual representation of what "Pulse Width Modulation" is.
The percentage of how much the device is on is controlled by varying the time that power is delivered to the device. PWM is useful for electrical motors because the power delivered to the motor can be changed so the full power of the motor doesn't have to be utilized at all times.
Bluetooth & Micro Controller Connection Schematic
To connect the control trainer to display the car's control system live characteristics on a computer screen a micro controller is being used to connect to a Bluetooth Radio Module. The Bluetooth radio module is sending out the information to another Bluetooth module connected to the computer.
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The micro controller that is being used.
FRDM - KL25Z by NXP Semiconductors.
The Bluetooth Radio Module that will be used for communicating the trainer car's live characteristics back to the laboratory computer screen.
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Model: HC-05
Bluetooth Version: 2.0
The USB adapter to Bluetooth Radio Module that will be plugged into the lab computers for connection between the Bluetooth module on the trainer car and the computer.
Antenna
A schematic of some pinouts that are on the KL25Z micro controller. Only a few are being used for the Bluetooth radio module.
Bluetooth radio module that is being used.
Voltage Level Converter
This voltage level converter is used for dropping the voltage from the voltage regulator, 5 Volts, to 3.3V so the Hall Effect voltage signal going into the KL25Z FRDM-Board is within the input voltage of the FRDM-board.
This is a 4 Channel IIC I2C Logic Level Converter Bi-Directional Module.
Either 5V to 3.3V or 3.3V to 5V.
Control System PID Controller
Proportional control system that students will modify by putting in an integral and or derivative controller.
Done with MATLAB
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