This week was mostly focused on getting a tilting mechanism
design on Solidworks, and have a working program paired up with it. The tilting
mechanism utilizes two open ended chains that are connected to a frame that is
attached to the cabin. A DC motor will take the inputs from a 9 DOF
accelerometer and gyroscope via a fuzzy control system to make sure that the
cabin is level at all times, especially on the incline of the track. In the CAD
model shown below, a chain is not shown due to the lack of support for open
ended chains in Solidworks. However, this does not detract from the viability
of the mechanism.
As for the programming portion of the tilting mechanism, the
program was tested by changing the pitch of the 9 DOF sensor. When the position
changes, the DC motor reacts within milliseconds. The LEDs show the different
states of the sensor. Testing was done until the entire program worked as
expected. Next week, we will finish assembling a test rig that will act as a
visual for people to see the tilting mechanism in action outside of a CAD
model.
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| Figure 1. The tilting mechanism that controls pitch. |
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| Figure 2. Positive pitch from the tilting mechanism. |
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| Figure 3. Negative pitch from the tilting mechanism. |
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| Figure 4. Using pointers to allow multiple functions to run consecutively within the main. |
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| Figure 5. A portion of the fuzzy control, which shows the different states. |
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| Figure 6. The main loop within the tilting program. |
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