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T.CDOKUZ EYLUL UNIVERSITY
FACULTY OF ENGINEERING
ELECTRICAL & ELECTRONIC ENGINEERING
DEPARTMENT
TELEMETRY SYSTEM
REPORT for FUNDAMENTALSROBOTICS
TECHNICAL SELECTIVE COURSE
by
zgr Mehmet DUMAN
Ahmet Esat GEN
Advisor
Asst. Prof. Dr. AhmetZKURT
December,2010
IZMIR
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ABSTRACT
In this project, a system is created which realizes measuring ofbattery voltage, battery
current and velocity ofmotorthen transmits thedata with RF communication between laptop
andcontrolleddevice. This project is a Fundamental ofRobotics Technical Selective Course
of Dokuz Eylul University, Faculty of Engineering Electric Electronic Engineering
Department.
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TABLE OF CONTENTS
TableofContents
1. INRODUCTION 4
2. METHODOLOGY 52.1Microcontrollers
2.1.1 VoltageMeasuring 62.1.2 CurrentMeasuring 72.1.3 VelocityMeasuring 92.1.4 Communication 102.1.5 Display LCD Screen 11
3. WORK PLAN 12
4. CONCLUSION 12
5. REFERENCES 126. APPENDIX 13
6.1Codes6.2 Data Sheet
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1. INTRODUCTIONTelemetry is explained remote observing and data logging of devices by wireless
communication orstatic lineconnection ofdevices.
In sector usage of telemetry systems are wireless sensor lines, remote system control,
energy counters, security systems, automation ofhome andfactory, logistic support systems
[1] andobserving data ofsolarcar.
This project is the first step ofcreating prototype forSolaris SolarCarTeam telemetry
systems.
Solarcarraces areenduranceevents; thefocus is efficiency andreliability. Forexample,
the Global Green Challenge is a five-day event in which teams cross theentirecontinent of
Australia from north to south. Solarcars aredriven from 8:00 a.m. to5:00p.m., with thefewextra daylight hours used torecharge theonboard batteries. As a result, these vehicles must
also be fast and reliable. Numerous tests and simulations help calculate reliability, while
closemonitoring systems determines efficiency [2].
A solar cars monitoring systemmeasures the voltage, current of essential components
and velocity of car. Power limitations restrict the instrumentation in a solar car, so the
monitoring system continuously transmits data to support vehicle. Those data are then
analyzed and used in planning race strategy [2].
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2. METHODOLOGY
2.1MicrocontrollerMicrocontrollers are themost popular electronic devices for simple use and cheap. So
anyone, who is interesting in electronic, can learn use. A lot ofmicrocontroller types are
designeddue to necessity. But all of them have RAM, ROM and I/O ports in same small
package.
Figure1: Pin diagramof16f877
In project microcontrollerprovides taking current data fromexternal hall effect sensor,
voltagedata by voltagedividercircuit and velocity data with light sensoron devices wheel
then transmits thedata with RF transmitter. In addition firstly this communication is realized
Rs 232 serial port communication andmonitoring Matlab Gui
All experiments are simulated Proteus 7.1 simulation program and C codes arecompiled by
PICC compiler.16F877 microcontroller is loaded with program Brenner8 pic programmer
US-BurnV 1.3 userinterface.
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2.1.1 Voltage Reading
Figure2:Voltage level controller
Dc supply was used insteadofbattery supply in project forlearning usage.16f877 has 10
bit ADC hardware so it has 0.0048V resolution ofquantization. When pic is supplied by 5V
and battery voltage is 100V, if100kohm and5kohm voltagedividercircuit is used in voltage
reading process analog input ofmicrocontrolleris 4,76V.
Figure3: Proteus simulation
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0 0.5 1 1.5 2 2.5 3
2. 5
2. 6
2. 7
2. 8
2. 9
3
3. 1
Hall Effect S ensor
Current(A)
Voltage(V)
2.1.2 Current ReadingHall effect sensor, shunt resistance sensorandcurrent sensorcalibration experiment was
realized todefinecoefficient ofcurrent voltageconverting because piccan readonly analog
voltage values.
Figure4: Ugn3503Hall effect sensorcalibration
Hall effect sensorcreate voltages due tomagneticfieldchanging becausecurrent ofwireon
toroid.
This data show that whilecurrent is changing 0.3A, approximately Vout changes 60mV.
Iin(A) 0 0.3 0.6 0.9 1.2 1.5 1.8 2.1 2.4 2.7 3.0 3.3
Vout(V) 2.44 2.50 2.55 2.62 2.67 2.73 2.78 2.84 2.90 2.95 3.1 3.7
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0 0.5 1 1.5 0
20
40
60
80
10 0
12 0
14 0
16 0Current-Output V oltage Characteristic
Current A
O
utputVoltage(mV)
Figure5 F.w. Bell current sensorcalibration
Current sensor is supplied -15V and +15V and a wire pass through it, it provides
unnecessary tocut the wire.
In this test 3.55Ohmrockresistance areconnectedendof the wire which through sensorso
all Vin values are must be divided 3.55, graphic was created after this process. 1mA
changing creates 1mV changing. This sensormore sensitiveotherone, but extra hardware
must berequired to supply it (7815for+15V and 7915for-15V supplying).
Vi
(V)
,
,7 , ,
,
,9
,
,
3, 3,
3,9
,
,
Vout(
V)
,
9,
33,7
,
9,
,3
7,
3,
99,
9,
,
,
7,
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Shunt resistorwas not tested because its coefficient 1A/1mV, analog input resolution of
16f877 is 4.8mV (10bit A/D 5Volt/210=4.8mV) so4.8A changing effects least significant bit
changing. Its not sensitive. But pic18FXXX series has 12bit A/D, the sensorcan be useful
with these pic series.
2.1.3 VelocityMeasuringTachometers usually are used for velocity measuring. Principles of measuring, light
reflection changing frommotor surface, so we usedcny70reflectiveoptical sensor tocount
circulation. This sensor usually is used line following robots but it can be used for our
prototypecircuit although it is not sensitiveforhigh speedcirculation.
Figure6 :Cny70 Reflectiveoptical sensorapplication.
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We simulated this application on Proteus simulation program, pushing button was used
instead of motor. Interrupts are created to provide round per minute measurement by pic
timerpins.
Figure 7: Measuring pushing button persecond.
2.1.4 Rs232 Serial Communication
Figure 8: RS232communication application. [3]
Data logging and observing are realized between microcontroller and Rs 232 serial port
communication in PICCs Siow interface. In addition Microsoft Hiperterminal program
provides samemonitoring.
rs232(baud=9600,xmit=PIN_C6,rcv=PIN_C7, parity=N, stop=1)
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3. WORK PLAN
4. CONCLUSIONAll weekends we worked but exams terms caused not to suit our work plan. Rf
communication wasnt realized.
Wedevelop RS232 serial communication knowledge although Matlab com4errors. We
couldnt combine all sensors on same pcb but simulatedon Proteus simulation. We waste too
many times on broken sensors how to workand wrong connection. The project is not
resulted. We plan tofinish the project between exam term and halfsemesterifit is allowed.
5. REFERENCES1. Telemetri Sistemleri San.Tic.A.. ProductCatalogue, 20092. McCarthy,L.,Pieper, J.,Wu,C.H.,PerformanceMonitoring in UMRs Solar
Car,2000
3. http://320volt.com/rs232-seri-portun-pic-mikro-denetleyiciler-ile-kullanimi/
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6. APPENDIX6.1Codes of Pic andMatlab
6.1.1 Voltage Reading 6.1.2 Current Reading
#include
#device ADC=10#fuses HS,NOWDT,NOPROTECT
#usedelay(clock=20000000)#usefast_io(b)#usefast_io(a)
unsigned long int bilgi;
float voltaj;
voidmain ( )
{set_tris_b(0x00);set_tris_a(0x0F);
output_b(0x00);
setup_adc(adc_clock_INTERNAL);
setup_adc_ports(ALL_ANALOG);
while(1)
{set_adc_channel(1);
delay_us(50);
bilgi=read_adc();
voltaj=0.00488296*bilgi;
if(voltaj0.006){
output_high(pin_b0);
delay_ms(500);
}elseoutput_high(pin_b1);
delay_ms(500);output_low(pin_b1);
delay_ms(500);
{
}}
}
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6.1.3 RS 232 Serial communication
#include
#fuses HS,NOWDT,NOPROTECT
#usedelay(clock=20000000)
#usefast_io(a)
#usefast_io(b)
#byte port_b =6 //portb nin ramdeki yeri#use rs232(baud=9600, xmit=PIN_C6,
rcv=PIN_C7, parity=N, stop=1)
//#users232(baud=9600,xmit=PIN_B1,rcvvoidmain()
{printf("calisiyor\n\r");
while (TRUE)
{
printf("a");
}}
%% MatlaB codeforexternal
%% Rs232 Communication
clearall;clc;
s = serial('COM4');
fopen(s);
data=zeros(5,16,'double');
fori=1:9
data=fscanf(s,'%d');
mtrx(i,1)=(data(1,i)*1);
end
fclose(s)
6.1.4Matlab Gui
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