Question 10: You are doing the preliminary design of a simple 4 wheel robot that

Question

Question 10: You are doing the preliminary design of a simple 4 wheel robot that will follow a line and once started will never stop. In this case the electric motor is the motor that controls the steering. Power Supey Signal Processing Electric Motor ensone How many sub-systems do you think they are? ls there feedback between the electric motor and the positions sensors? If this was your team's senior project describe how you would break the system into subsystems so that the team could do as much work in parallel. If you were testing one system by itself which time domain signal would you use to get a frequency response?

Explanation / Answer

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1. There are five main sub-systems as shown in the diagram: The power supply, which may come from standard voltage batteries, the position sensors, which may utilise LED's to transmit light and LDR's to measure amount of reflected light, the signal conditioners, which interface all sensors and motors to the microcontroller, the motors which steer the robot and finally the microcontroller, which houses the software needed to control the operation of the robot.

2. Yes, there is feedback between the electric motor and the position sensor. The position sensor tell the microcontroller on which side of the line the robot is (perfectly aligned, towards right or towards left). Based on this the microcontroller will send the appropriate signals to the motor to steer the robot.

3. The sub-systems given in part 1 of the answer will serve as a guide for the team to break up the entire project into sub-projects. Each of the sub-system may be individually built and tested by each team memeber.

4. The best time domain signal to obtain a frequency response would be a sine wave of varying frequencies. This would give the system response as a function of the frequency input, which is nothing but the frequency response of the system. Note that when this is done in hardware, care has to be taken to limit the input voltages, depending on the input limits of each sensor/transducer.

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