T.

E-I (E&TC) POSITION

CONTROLLER USING ACCELERATION SENSOR
POSITION CONTROLLER
USING ACCELERATION
SENSOR
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page 1
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
1. ABSTRACT
This proje! "ses a# ae$era!io# se#sor !o %o&e a &ehi$e !o !he 'esire' $oa!io#. (
%iroo#!ro$$er is "se' !o rea' 'a!a )ro% ae$era!io# se#sor. The# i! se#'s a 'a!a pa*e! !o re%o!e
%iroo#!ro$$er "si#g a# +F %o'e%. The re%o!e %iroo#!ro$$er reei&es 'a!a )ro% !he +F reei&er a#'
%o&es !he &ehi$e i# )or,ar', re&erse, $e)!, righ!. The -D12E e#o'er e#o'es !he 'a!a reei&e' )ro% !he
%iroo#!ro$$er a#' se#'s i! !o !he +F !ra#s%i!!er. +F !ra#s%i!!er !ra#s%i!s !he 'a!a !o !he +F reei&er
!hro"gh a#!e##a !he# +F reei&er reei&es 'a!a, 'eo'ers 'eo'e !his 'a!a a#' se#' i! !o !he
%iroo#!ro$$er. .iroo#!ro$$er o#!ro$s !he posi!io# aor'i#g !o !he 'a!a reei&e' )ro% !he 'eo'er.
2. INTRODUCTION
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T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
(# ae$ero%e!er is a 'e&ie !ha! %eas"res proper ae$era!io#, a$so a$$e' !he )o"r-ae$era!io#.
For e/a%p$e, a# ae$ero%e!er o# a ro*e! ae$era!i#g !hro"gh spae ,i$$ %eas"re !he ra!e o) ha#ge o)
!he &e$oi!0 o) !he ro*e! re$a!i&e !o a#0 i#er!ia$ )ra%e o) re)ere#e. -o,e&er, !he proper ae$era!io#
%eas"re' 10 a# ae$ero%e!er is #o! #eessari$0 !he oor'i#a!e ae$era!io# 2ra!e o) ha#ge o) &e$oi!03.
4#s!ea', i! is !he ae$era!io# assoia!e' ,i!h !he phe#o%e#o# o) ,eigh! e/perie#e' 10 a#0 !es! %ass a!
res! i# !he )ra%e o) re)ere#e o) !he ae$ero%e!er 'e&ie. For a# e/a%p$e ,here !hese !0pes o)
ae$era!io# 'i))er, a# ae$ero%e!er ,i$$ %eas"re a &a$"e o) g i# !he "p,ar' 'ire!io# ,he# re%ai#i#g
s!a!io#ar0 o# !he gro"#', 1ea"se %asses o# ear!h ha&e ,eigh! %5g. B0 o#!ras!, a# ae$ero%e!er i#
gra&i!a!io#a$ )ree )a$$ !o,ar' !he e#!er o) !he Ear!h ,i$$ %eas"re a &a$"e o) 6ero 1ea"se, e&e# !ho"gh i!s
spee' is i#reasi#g, i! is a! res! i# a )ra%e o) re)ere#e i# ,hih o1je!s are ,eigh!$ess.

.a#0 ro1o!i app$ia!io#s 'e%a#' %a#ip"$a!ors ,i!h high 'egrees o) repea!a1i$i!0, preisio#, a#'
re$ia1i$i!0. Pro'"!io# $i#e ro1o!s pro&i'e s!ereo!0pia$ e/a%p$es o) !his 'o%ai#. -o,e&er, a$!ho"gh high-
preisio# %a#ip"$a!ors e/e$ a! !as*s )or ,hih !he0 a# 1e pre-progra%%e', ro1o!i %a#ip"$a!ors ha&e
#o! 1eo%e o%%o#p$ae i# !he "#s!r"!"re' 'o%ai#s o) !0pia$ ho%es a#' ,or*p$aes. Prior ,or* has
i#&es!iga!e' !he %a#ip"$a!io# o) o1je!s ,i!ho"! high-preisio# *#o,$e'ge o) i!s e/a! posi!io#,
orie#!a!io#, a#' shape. U#er!ai#!0 %"s! 1e reso$&e' 10 !he ro1o!7s se#sors, s"h as a%eras, $asers, or
o#!a! se#sors, a%o#g o!her %o'a$i!ies. F"r!her%ore, i# so%e s"h e#&iro#%e#!s !he !as* i!se$) is #o!
$ear$0 'e)i#e', a#' %"s! 1e i#)erre' 10 !he ro1o! !hro"gh h"%a#-ro1o! i#!era!io#, se#e i#)ere#e, or
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page 8
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
o!her %e!ho's. This 1o'0 o) researh 'e%o#s!ra!es !ha! !he e))e!i&e %a#ip"$a!io# error i# "#s!r"!"re'
e#&iro#%e#!s is #o $o#ger res!ri!e' !o !he %eha#ia$ preisio# o) !he %a#ip"$a!or9 ra!her, i! i#orpora!es
errors )ro% !he e#!ire ro1o!i s0s!e%. :e#sor a$i1ra!io#, o1je! $oa$i6a!io# a$gori!h%s, a#' se#sor-
%a#ip"$a!or regis!ra!io#, a%o#g o!her so"res o) error, are "%"$a!i&e a#' a'' "p ;"i*$0. For %a#0 !as*s
e#&isio#e' )or ho"seho$' ser&ie ro1o!s, %i$$i%e!er-or'er repea!a1i$i!0 errors are "#$i*e$0 !o a"se 'ras!i
ha#ges i# !he per)or%a#e o) !he s0s!e%, as errors o) !ha! or'er are o)!e# o&ersha'o,e' 10 $arger errors
i# !he perep!io# s0s!e%, a#' !h"s !he ro1o!i s0s!e% %"s! a$rea'0 1e ro1"s! !o s"h per!"r1a!io#s.
O#e %ajor ra!io#a$e 1ehi#' !he proje! ,as !o 'esig# a ,ire$ess ar !ha! s!eers a#' ae$era!es 10 %ea#s
o) a# ae$ero%e!er i#s!ea' o) a jo0s!i*. The ae$ero%e!er ,o"$' 1e )i!!e' !o !he ha#' ,i!h !he ha#'
g$o&es. The "ser a# !i$! his ha#' !o $e)!<righ! a#' )or,ar'<1a*,ar' !o o#!ro$ !he 'ire!io# a#' spee' o)
!he 1oo!, respe!i&e$0.
3. LITERATURE SURVEY

Boo*s=
>0?1 %iroo#!ro$$er 10 .a6i'i
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page @
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
Pri#!e' Cir"i! Boar's-Dr.+.:.Aha#'p"r,Ta!a .Bra,--i$$ P"1$ishi#g Co%pa#0 Ci%i!e'
We1si!es=
e#.,i*ipe'ia.org
ai.s!a#)or'.e'"
,,,.a#a$og.o%
,,,.ar'"i#o.o%
s!a1-ii!1.org<,i*i<Bes!"reDCo#!ro$$e'DCar
,,,.ro1o!ishapp0.o%
4.PROBLEM STATEMENT
To 'esig# !he s0s!e% ,hih o#!ro$ !he posi!io# o) &ehi$e or a#0 %o&i#g 1o'0 "si#g
%iroo#!ro$$er i#!er)ae a#' +F !ra#s-reei&er %o'e%. 4! is "se)"$ )or o#!ro$ a#' $oa!es 'esire'
posi!io# o) &ehi$e.
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T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
5.OBJECTIVES
The %ai# o1je!i&e o) !his proje! is !o o#!ro$ !he posi!io# o) &ehi$e or a#0 %o&i#g 1o'0. We
a# %o&e !he &ehi$e as per "ser7s 'esire a#' $oa!e !he re;"ire' posi!io#.
:e#se !he posi!io# o) a#0 %o&i#g 1o'0 a#' aor'i#g !o !ha! ha#ge !he 'ire!io# o) &ehi$e.
4#!er)ae %iroo#!ro$$er ,i!h e#o'er, 'eo'er.
Use +F !ra#s%issio# )or 'a!a !ra#s)er.
4#!er)ae %iroo#!ro$$er ,i!h %o!or 'ri&er ,hih !a*e 'eisio# !o %o&e &ehi$e i# appropria!e
'ire!io#.

6. SPECIFICATIONS
1. Circi!"#
(e$era!io# se#sor (DEC88?
>F:?2 %iroo#!ro$$er
$2F8' ' %o!or 'ri&er
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T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
12&' G0 rp% ' %o!ors
+F %o'e%
E#o'er -T12E a#' 'eo'er -T12D
2. M$c%&'ic&(
2 Pri#!e' Cir"i! Boar's o) si6e= @.252.@%
E#$os"re 1oar' o) si6e =>510i#h
). E($c!ic&("
(C %ai#s o) 280V
FV (C ?00%( !ra#s)or%er
?V DC s"pp$0 !o %iroo#!ro$$er
*.BLOC+ DIAGRAM
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page H
DC .OTO+
D+4VE+
ACCELERA
TION
SENSOR
.4C+OCONT+OCCE+
RF
TRANS
MITTER
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
,.DESCRIPTION OF BLOC+ DIAGRAM
,.1. ACCELEROMETER" AD-L))5
The (DEC88? is a s%a$$, !hi#, $o, po,er, o%p$e!e 8-a/is ae$ero%e!er ,i!h sig#a$
o#'i!io#e' &o$!age o"!p"!s. The pro'"! %eas"res ae$era!io# ,i!h a %i#i%"% )"$$-sa$e ra#ge
o) 8 g. 4! a# %eas"re !he s!a!i ae$era!io# o) gra&i!0 i# !i$! se#si#g app$ia!io#s, as ,e$$ as
'0#a%i ae$era!io# res"$!i#g )ro% %o!io#, sho*, or &i1ra!io#. The "ser se$e!s !he 1a#',i'!h
o) !he ae$ero%e!er "si#g !he CE, CI, a#' CJ apai!ors a! !he EOUT, IOUT, a#' pi#s.
Ba#',i'!hs a# 1e se$e!e' !o s"i! !he app$ia!io#, ,i!h a ra#ge o) 0.? -6 !o 1G00 -6 )or E a#'
I a/es, a#' a ra#ge o) 0.? -6 !o ??0 -6 )or !he J a/is.
T.EOR/ OF OPERATION"
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page >
+F
+ECE4VE+
.4C+OCONT+OCCE+
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
The (DEC88? is a o%p$e!e 8-a/is ae$era!io# %eas"re%e#! s0s!e%. The (DEC88? has a
%eas"re%e#! ra#ge o) 8 g %i#i%"%. 4! o#!ai#s a po$0si$io# s"r)ae %iro %ahi#e' se#sor a#'
sig#a$ o#'i!io#i#g ir"i!r0 !o i%p$e%e#! a# ope# $oop ae$era!io# %eas"re%e#! arhi!e!"re.
The o"!p"! sig#a$s are a#a$og &o$!ages !ha! are propor!io#a$ !o ae$era!io#. The
(e$ero%e!er a# %eas"re !he s!a!i ae$era!io# o) gra&i!0 i# !i$! se#si#g app$ia!io#s as ,e$$
as '0#a%i ae$era!io# res"$!i#g )ro% %o!io#, sho*, or &i1ra!io#. The se#sor is a po$0si$io#
s"r)ae %iro %ahi#e' s!r"!"re 1"i$! o# !op o) a si$io# ,a)er. Po$0si$io# spri#gs s"spe#' !he
:!r"!"re o&er !he s"r)ae o) !he ,a)er a#' pro&i'e a resis!a#e agai#s! ae$era!io# )ores.
De)$e!io# o) !he s!r"!"re is %eas"re' "si#g a 'i))ere#!ia$ apai!or !ha! o#sis!s o) 'epe#'e#!
Fi/e' p$a!es a#' p$a!es a!!ahe' !o !he %o&i#g %ass. The )i/e' p$a!es are 'ri&e# 10 1>0K o"!-o)-
phase s;"are ,a&es. (e$era!io# 'e)$e!s !he %o&i#g %ass a#' "#1a$a#es !he 'i))ere#!ia$
Capai!or res"$!i#g i# a se#sor o"!p"! ,hose a%p$i!"'e is propor!io#a$ !o ae$era!io#. Phase-
se#si!i&e 'e%o'"$a!io# !eh#i;"es are !he# "se' !o 'e!er%i#e !he %ag#i!"'e a#'
Dire!io# o) !he ae$era!io#. The 'e%o'"$a!or o"!p"! is a%p$i)ie' a#' 1ro"gh! o))-hip
!hro"gh a 82 *L resis!or. The "ser !he# se!s !he sig#a$ 1a#',i'!h o) !he 'e&ie 10 a''i#g a
apai!or. This )i$!eri#g i%pro&es %eas"re%e#! reso$"!io# a#' he$ps pre&e#! a$iasi#g.
The o!her %ajor ra!io#a$e ,as !o a$$o, !he "ser !o r"# !he ar o# a#0 *i#' o) p$a#e s"r)ae &
a#0 *i#' o) !"r#s. For !he 1o! !o !a*e sharp !"r#s ,e "se' 'i))ere#!ia$ !"r#i#g .eha#is% i# o"r
1o!.

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T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR

USE 0IT. OPERATING VOLTAGES OT.ER T.AN ) V
The (DEC88? is !es!e' a#' spei)ie' a! V: M 8 V9 ho,e&er, i! a# 1e po,ere' ,i!h V: as $o, as
1.> V or as high as 8.G V. No!e !ha! so%e per)or%a#e para%e!ers ha#ge as !he s"pp$0 &o$!age is
&arie'. The (DEC88? o"!p"! is ra!io %e!ri9 !here)ore, !he o"!p"! se#si!i&i!0 2or sa$e )a!or3
&aries propor!io#a$$0 !o !he s"pp$0 &o$!age. (! V: M 8.G V, !he o"!p"! se#si!i&i!0 is !0pia$$0 8G0
mV/g. At VS = 2 V, the output sensitivity is typi!""y #$% mV/g. The &e'o g
(i!s output is !"so '!tio met'i, so the &e'o g output is nomin!""y e)u!" to
VS/2 !t !"" supp"y vo"t!*es. The output noise is not '!tio met'i (ut is
!(so"ute in vo"ts+ the'e,o'e, the noise -ensity -e'e!ses !s the supp"y
vo"t!*e in'e!ses. This is (e!use the s!"e ,!to' .mV/g/ in'e!ses 0hi"e the
noise vo"t!*e 'em!ins onst!nt. At VS = 1.2 V, the 34 !n- 54!6is noise
-ensity is typi!""y #27 8g/9:&, 0hi"e !t VS = 2 V, the 34 !n- 54!6is noise
-ensity is typi!""y 2;7 8g/9:&. Se", test 'esponse in g is 'ou*h"y p'opo'tion!"
to the s;"are o) !he s"pp$0 &o$!age. -o,e&er, ,he# ra!io%e!rii!0 o) se#si!i&i!0 is )a!ore' i#
,i!h s"pp$0 &o$!age, !he se$) !es! respo#se i# &o$!s is ro"gh$0 propor!io#a$ !o !he "1e o) !he
s"pp$0 &o$!age. For e/a%p$e, a! V: M 8.G V, !he se$) !es! respo#se )or !he (DEC88? is
appro/i%a!e$0 N2H? %V )or !he E-a/is, O2H? %V )or !he I-a/is, a#' N100 %V )or !he J-a/is. (!
V: M 2 V, !he se$) !es! respo#se is appro/i%a!e$0 NG0 %V )or !he E-a/is, OG0 %V )or !he I-a/is,
a#' N2? %V )or !he J-a/is. The s"pp$0 "rre#! 'ereases as !he s"pp$0 &o$!age 'ereases.
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T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
T0pia$ "rre#! o#s"%p!io# a! V: M 8.G V is 8H? P(, a#' !0pia$ "rre#! o#s"%p!io# a! V: M 2
V is 200 P(.
,.2. MICROCONTROLLER" AT ,1S52
The %iro-o#!ro$$er is a %iroproessor ,i!h pro&isio#s )or i#p"! a#' o"!p"!
e%1e''e' i# i!. 4! o#sis!s o) !i%ers, a#a$og !o 'igi!a$ o#&er!ers 2(DC:3, "#i&ersa$
s0#hro#o"s as0#hro#o"s reei&er !ra#s%i!!er 2U:(+T3, e!. 4! is a# >-1i!
%iroo#!ro$$er ,i!h )$ash progra% %e%or0 a#' e$e!ria$$0 erasa1$e progra%%a1$e rea'
o#$0 %e%or0 2EEP+O.3. 4! o#!ai#s >8- i#s!r"!io#s ,hih i#$"'e 10!e opera!io#s, 1i!s
opera!io#s a#' 1ra#hi#g. 4! has )i&e >-1i!s por!s ,hih a# 1e 1i!-,ise or 10!e-,ise
a''resse'.
The !hree %ajor )ea!"res o) !he o#!ro$$er are=
i3 +eei&es i#s!r"!io#s a#' 'eo'es !he% !o gi&e 'e&ie a''ress a#' o%%a#', !he#
se#'s orrespo#'i#g sig#a$s !o !he 'ri&er o) !he po,er ir"i!.
ii3 E#s"res '"a$ i#'epe#'e#! opera!io# a!io# Q 'e&ie o# or o)).
iii3 Pro&i'es a )ee'1a* s!a!"s o) a#0 'e&ie "#'er o#!ro$ ,he!her o# or o)). The 'esig#
para%e!ers a#' s!eps are o"!$i#e' as )o$$o,s=
&2 +ea' a#' s!ore reei&e' *e0 &a$"es i# a )irs!-i#- )irs!-o"! 2F4FO3 1"))er.
32 ($$ o%%a#'s e#'s ,i!h *e0 5 !o e/e"!e !he $as! )o"r 'igi!s s!ore' i# !he F4FO
1"))er.
c2 Deo'e !he )irs! !hree 'igi!s !o 'e&ie a''ress a#' !he )o"r!h 'igi! !o a o%%a#' !o 1e
e/e"!e'.
,.). ENCODER" .T12E
4! e#o'es !he 'a!a reei&e' )ro% %iroo#!ro$$er. .iroo#!ro$$er reei&es !he 'a!a )ro%
ae$era!io# se#sor.
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T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
,.4.RF TRANSMITTER" T-4))
+a'io )re;"e#0 o) @88.-6 is "se' )or !ra#s%issio# !he e#o'e' 'a!a.
,.5. RF RECEIVER" R-4))
+eei&er reei&es !he 'a!a !ra#s%i!!e' 10 !ra#s%i!!er.
,.6. DECODER" .T12D
4! 'eo'es !he o'e e#o'e' 10 e#o'er -T12E.
,.*. DC MOTOR DRIVER" IC L21)D
DC MOTOR
Whe#e&er a ro1o!is ho110is! !a$* a1o"! %a*i#g a ro1o!, !he )irs! !hi#g o%es !o his %i#'
is %a*i#g !he ro1o! %o&e o# !he gro"#'. (#' !here are a$,a0s !,o op!io#s i# )ro#! o) !he
'esig#er ,he!her !o "se a DC %o!or or a s!epper %o!or. Whe# i! o%es !o spee', ,eigh!, si6e,
os!... DC %o!ors are a$,a0s pre)erre' o&er s!epper %o!ors. There are %a#0 !hi#gs ,hih 0o"
a# 'o ,i!h 0o"r DC %o!or ,he# i#!er)ae' ,i!h a %iroo#!ro$$er. For e/a%p$e 0o" a# o#!ro$
!he spee' o) %o!or9 0o" a# o#!ro$ !he 'ire!io# o) ro!a!io#. Us"a$$0 -<1ri'ge is pre)erre' ,a0
o) i#!er)ai#g a DC %o!or. These 'a0s %a#0 4C %a#")a!"rers ha&e -<1ri'ge %o!or 'ri&er
a&ai$a1$e i# !he %ar*e! $i*e C2F8D is %os! "se' - Bri'ge 'ri&er 4C. -<1ri'ge a# a$so 1e %a'e
,i!h !he he$p o) !ra#sis!ors a#' .O:FETs e!. ra!her o) 1ei#g heap, !he0 o#$0 i#rease !he si6e
o) !he 'esig# 1oar', ,hih is so%e!i%es #o! re;"ire' so "si#g a s%a$$ 1G pi# 4C is pre)erre' )or
!his p"rpose.
0OR+ING T.EOR/ OF MOTOR DRIVER
The #a%e R-<Bri'geR is 'eri&e' )ro% !he a!"a$ shape o) !he s,i!hi#g ir"i! ,hih
o#!ro$s !he %o!io# o) !he %o!or. 4! is a$so *#o,# as RF"$$ Bri'geR. Basia$$0 !here are )o"r
s,i!hi#g e$e%e#!s i# !he -<Bri'ge.
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T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
(s 0o" a# see i# !he )ig"re a1o&e !here are )o"r s,i!hi#g e$e%e#!s #a%e' as R-igh si'e $e)!R,
R-igh si'e righ!R, RCo, si'e righ!R, RCo, si'e $e)!R. Whe# !hese s,i!hes are !"r#e' o# i# pairs
%o!or ha#ges i!s 'ire!io# aor'i#g$0. Ci*e, i) ,e s,i!h o# -igh si'e $e)! a#' Co, si'e righ!
!he# %o!or ro!a!e i# )or,ar' 'ire!io#, as "rre#! )$o,s )ro% PSpo,er s"pp$0 !hro"gh !he %o!or
oi$ goes !o gro"#' &ia s,i!h $o, si'e righ!. :i%i$ar$0, ,he# 0o" s,i!h o# $o, si'e
$e)! a#' high si'e righ!, !he "rre#! )$o,s i# opposi!e 'ire!io# a#' %o!or ro!a!es i# 1a*,ar'
'ire!io#. This is !he 1asi ,or*i#g o) -<Bri'ge. We a# a$so %a*e a s%a$$ !r"!h !a1$e aor'i#g
!o !he s,i!hi#g o) -<Bri'ge e/p$ai#e' a1o&e.
Tr!% T&3($"
-igh $e)! -igh righ! Co, $e)! Co, righ! Desrip!io#
O# O)) O)) O# .o!or r"#s
a#!i$o*,ise
O)) O# O# O)) .o!or r"#s
$o*,ise
O# O# O)) O)) .o!or
'eae$era!e'
O)) O)) O# O# .o!or
'eae$era!e
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page 18
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
(s a$rea'0 sai', -<1ri'ge a# 1e %a'e ,i!h !he he$p o) !ra#sis!ors as ,e$$ as .O:FETs9 !he o#$0
!hi#g is !he po,er ha#'$i#g apai!0 o) !he ir"i!. 4) %o!ors are #ee'e' !o r"# ,i!h high
C"rre#! !he# $o! o) 'issipa!io# is !here. :o hea' si#*s are #ee'e' !o oo$ !he ir"i!.
C$ear$0 see# i# !he 'iagra%, !o a&oi' 1"r#i#g o) po,er s"pp$0 10 shor!i#g !he%. :o !ha! is ,h0
!hose o%1i#a!io#s are #o! 'is"sse' i# !he !r"!h !a1$e.
L21)D DUAL .BRIDGE MOTOR DRIVER
C2F8D is a '"a$ -<Bri'ge %o!or 'ri&er, so ,i!h o#e 4C ,e a# i#!er)ae !,o DC %o!ors
,hih
a# 1e o#!ro$$e' i# 1o!h $o*,ise a#' o"#!er $o*,ise 'ire!io# a#' i) 0o" ha&e %o!or
,i!h )i/ 'ire!io# o) %o!io#. Io" a# %a*e "se o) a$$ !he )o"r 4<Os !o o##e! "p !o )o"r DC
%o!ors. C2F8D has o"!p"! "rre#! o) G00%( a#' pea* o"!p"! "rre#! o) 1.2( per ha##e$.
.oreo&er )or pro!e!io# o) ir"i! )ro% 1a* E.F o"!p"! 'io'es are i#$"'e' ,i!hi# !he 4C. The
o"!p"! s"pp$0 2VCC23 has a ,i'e ra#ge )ro% @.?V !o 8GV, ,hih has %a'e C2F8D a 1es! hoie
)or DC %o!or 'ri&er.
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page 1@
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
1.CIRCUIT DIAGRAM
Tr&'45i!!$r
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page 1?
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
R$c$i6$r
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page 1G
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
17.0OR+ING OF CIRCUIT DIAGRAM"
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page 1H
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
This proje! "ses a# ae$era!io# se#sor !o %o&e a &ehi$e !o !he 'esire' $oa!io#.
( %iroo#!ro$$er is "se' !o rea' 'a!a )ro% ae$era!io# se#sor. The# i! se#'s a 'a!a
pa*e! !o re%o!e %iroo#!ro$$er "si#g a# +F %o'e%. The re%o!e %iroo#!ro$$er
reei&es 'a!a )ro% !he +F reei&er a#' %o&es !he &ehi$e i# )or,ar' ,re&erse, $e)! , righ!.
The -D12E e#o'er e#o'es !he 'a!a reei&e' )ro% !he %iroo#!ro$$er a#' se#'s i! !o
!he +F !ra#s%i!!er a! )re;"e#0 @88.-6.
+F !ra#s%i!!er !ra#s%i!s !he 'a!a !o !he +F reei&er !hro"gh a#!e##a !he# +F reei&er
reei&es 'a!a, 'eo'er 'eo'es !his 'a!a a#' se#'s i! !o !he %iroo#!ro$$er.
.iroo#!ro$$er o#!ro$s !he posi!io# aor'i#g !o !he 'a!a reei&e' )ro% !he 'eo'er.
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page 1>
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
11. MODULE0ISE DESIGN OF CIRCUIT DIAGRAM"
11.1. ACCELEROMETER" AD-L))5
4! is re$ia1$e !o "se.
+e;"ires $o, opera!i#g &o$!age.
Co, os!.
FEATURES
8-a/is se#si#g
:%a$$, $o,-pro)i$e pa*age
@ %% T @ %% T 1.@? %% CFC:P
Co, po,er - 8?0 P( 2!0pia$3
:i#g$e-s"pp$0 opera!io#
1.> V !o 8.G V
10,000 g sho* s"r&i&a$
E/e$$e#! !e%pera!"re s!a1i$i!0
BW a'j"s!%e#! ,i!h a si#g$e apai!or per a/is
+o-:<WEEE $ea'-)ree o%p$ia#!
APPLICATIONS
Cos!-se#si!i&e, $o, po,er, %o!io#- a#' !i$!-se#si#g
app$ia!io#s
.o1i$e 'e&ies
Ba%i#g s0s!e%s
Dis* 'ri&e pro!e!io#
4%age s!a1i$i6a!io#
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page 1F
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
:por!s a#' hea$!h 'e&ies
MEC.ANICAL SENSOR
The (DEC88? "ses a si#g$e s!r"!"re )or se#si#g !he E, I, a#' J a/es. (s a res"$!, !he
!hree a/es se#se 'ire!io#s are high$0 or!hogo#a$ ,i!h $i!!$e ross a/is se#si!i&i!0. .eha#ia$
%isa$ig#%e#!
o) !he se#sor 'ie !o !he pa*age is !he hie) so"re o) ross a/is se#si!i&i!0. .eha#ia$
%isa$ig#%e#! a#, o) o"rse, 1e a$i1ra!e' o"! a! !he s0s!e% $e&e$.
PERFORMANCE
+a!her !ha# "si#g a''i!io#a$ !e%pera!"re o%pe#sa!io# ir"i!r0, i##o&a!i&e 'esig# !eh#i;"es
e#s"re high per)or%a#e is 1"i$!-i# !o !he (DEC88?. (s a res"$!, !here is #ei!her ;"a#!i6a!io#
error #or #o#-%o#o!o#i 1eha&ior, a#' !e%pera!"re h0s!eresis is &er0 $o, 2!0pia$$0 $ess !ha# 8
%g o&er !he N2?KC !o OH0KC !e%pera!"re ra#ge3.
11.2.MICROCONTROLLER" AT ,1S52
Eas0 !o "se.
Cos! is $o,.
FEATURES
U Co%pa!i1$e ,i!h .C:-?1V Pro'"!s
U >A B0!es o) 4#-:0s!e% Progra%%a1$e 24:P3 F$ash .e%or0
Q E#'"ra#e= 1000 Wri!e<Erase C0$es
U @.0V !o ?.?V Opera!i#g +a#ge
U F"$$0 :!a!i Opera!io#= 0 -6 !o 88 .-6
U Three-$e&e$ Progra% .e%or0 Co*
U 2?G / >-1i! 4#!er#a$ +(.
U 82 Progra%%a1$e 4<O Ci#es
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T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
U Three 1G-1i! Ti%er<Co"#!ers
U Eigh! 4#!err"p! :o"res
U F"$$ D"p$e/ U(+T :eria$ Cha##e$
U Co,-po,er 4'$e a#' Po,er-'o,# .o'es
U 4#!err"p! +eo&er0 )ro% Po,er-'o,# .o'e
U Wa!h'og Ti%er
U D"a$ Da!a Poi#!er
U Po,er-o)) F$ag
DESCRIPTION
The (T>F:?2 is a $o,-po,er, high-per)or%a#e C.O: >-1i! %iroo#!ro$$er ,i!h >A 10!es o)
i#-s0s!e% progra%%a1$e F$ash %e%or0. The 'e&ie is %a#")a!"re' "si#g (!%e$7s high-'e#si!0
#o#&o$a!i$e %e%or0 !eh#o$og0 a#' is o%pa!i1$e ,i!h !he i#'"s!r0 s!a#'ar' >0C?1 i#s!r"!io#
se! a#' pi# o"!. The o#-hip F$ash a$$o,s !he progra% %e%or0 !o 1e reprogra%%e' i#-s0s!e% or
10 a o#&e#!io#a$ #o#&o$a!i$e %e%or0 progra%%er. B0 o%1i#i#g a &ersa!i$e >-1i! CPU ,i!h i#-
s0s!e% progra%%a1$e F$ash o# a %o#o$i!hi hip, !he (!%e$ (T>F:?2 is a po,er)"$
%iroo#!ro$$er ,hih pro&i'es a high$0-)$e/i1$e a#' os!-e))e!i&e so$"!io# !o %a#0 e%1e''e'
ont'o" !pp"i!tions. The AT=$S%2 p'ovi-es the ,o""o0in* st!n-!'- ,e!tu'es>
=? (ytes o, F"!sh, 2%2 (ytes o, RAM, 12 I/O "ines, @!th-o* time', t0o -!t!
pointe's, th'ee #24(it time'/ounte's, ! si64veto' t0o4"eve" inte''upt
!'hitetu'e, ! ,u"" -up"e6 se'i!" po't, on4hip osi""!to', !n- "oA i'uit'y. In
!--ition, the AT=$S%2 is -esi*ne- 0ith st!ti "o*i ,o' ope'!tion
-o0n to &e'o ,'e)ueny !n- suppo'ts t0o so,t0!'e se"et!("e po0e' s!vin*
mo-es. The I-"e Mo-e stops the CBC 0hi"e !""o0in* the RAM, time'/ounte's,
se'i!" po't, !n- inte''upt system !o o#!i#"e )"#!io#i#g. The Po,er-'o,# %o'e sa&es
!he +(. o#!e#!s 1"! )ree6es !he osi$$a!or, 'isa1$i#g a$$ o!her hip )"#!io#s "#!i$ !he #e/!
i#!err"p! or har',are rese!.
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page 21
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
11.). ENCODER" .T12E
FEATURES
Opera!i#g &o$!age
2.@VW?V )or !he -T12(
2.@VW12V )or !he -T12E
Co, po,er a#' high #oise i%%"#i!0 C.O: !eh#o$og0
Co, s!a#'10 "rre#!= 0.1D( 2!0p.3 a! VDDM?V
-T12( ,i!h a 8>*-6 arrier )or i#)rare' !ra#s%issio# %e'i"%
.i#i%"% !ra#s%issio# ,or'
Fo"r ,or's )or !he -T12E
O#e ,or' )or !he -T12(
B"i$!-i# osi$$a!or #ee's o#$0 ?X resis!or
Da!a o'e has posi!i&e po$ari!0
.i#i%a$ e/!er#a$ o%po#e#!s
Pair ,i!h -o$!e*Ds 212 series o) 'eo'ers
1>-pi# D4P, 20-pi# :OP pa*age
APPLICATIONS
B"rg$ar a$ar% s0s!e%
:%o*e a#' )ire a$ar% s0s!e%
Barage 'oor o#!ro$$ers
Car 'oor o#!ro$$ers
Car a$ar% s0s!e%
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T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
:e"ri!0 s0s!e%
Cor'$ess !e$epho#es
O!her re%o!e o#!ro$ s0s!e%s
11.4.RF TRANSMITTER" T-4))

DESCRIPTION
The TE-@88 is i'ea$ )or re%o!e o#!ro$ app$ia!io#s ,here $o, os! a#' $o#ger ra#ge is
re;"ire'.
The !ra#s%i!!er opera!es )ro% a 1.?-12V s"pp$0, %a*i#g i! i'ea$ )or 1a!!er0-po,ere'
app$ia!io#s.
The !ra#s%i!!er e%p$o0s a :(W-s!a1i$i6e' osi$$a!or, e#s"ri#g a"ra!e )re;"e#0 o#!ro$
)or 1es! ra#ge per)or%a#e.
O"!p"! po,er a#' har%o#i e%issio#s are eas0 !o o#!ro$, %a*i#g FCC a#' ET:4
o%p$ia#e eas0.
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T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
The %a#")a!"ri#g-)rie#'$0 :4P s!0$e pa*age a#' $o,-os! %a*e !he TE-@88 s"i!a1$e )or
high &o$"%e app$ia!io#s.
FEATURES
@88.F2 .-6 Fre;"e#0
Co, Cos!
1.?-12V opera!io#
11%( "rre#! o#s"%p!io# a! 8V
:%a$$ si6e
@ 'B% o"!p"! po,er a! 8V
APPLICATIONS
+e%o!e Ae0$ess E#!r0 2+AE3
+e%o!e Cigh!i#g Co#!ro$s
O#-:i!e Pagi#g
(sse! Tra*i#g
Wire$ess ($ar% a#' :e"ri!0 :0s!e%s
Co#g +a#ge +F4D
("!o%a!e' +eso"re .a#age%e#!
11.5. RF RECEIVER" R-4))
4'ea$ )or 81?<@88.-6 +e%o!e Ae0$ess-E#!r0 +eei&es.
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page 2@
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
The +ED1is a %i#ia!"re reei&er %o'"$e !ha! reei&es (%p$i!"'e :hi)!
Ae0i#g2(:A3%o'"$a!io# sig#a$ a#' 'e%o'"$a!e' !o 'igi!a$ sig#a$ )or !he #e/! 'eo'er
s!age.
The res"$! is e/e$$e#! per)or%a#e i# a si%p$e-!o-"se ,i!h a $o, e/!er#a$ o%po#e#!
o"#!.
The +ED1 is 'esig#e' spei)ia$$0 )or re%o!e-o#!ro$ a#' ,ire$ess se"ri!0 reei&er
opera!i#g a! 81?<@[email protected] i# !he U:( "#'er FCC Par! 1? reg"$a!io#.
Cos! is $o,.
11.6. DECODER" .T12D
FEATURES
Opera!i#g &o$!age= 2.@VW12V
Co, po,er a#' high #oise i%%"#i!0 C.O: !eh#o$og0
Co, s!a#'10 "rre#!
Capa1$e o) 'eo'i#g 12 1i!s o) i#)or%a!io#
Bi#ar0 a''ress se!!i#g
+eei&e' o'es are he*e' 8 !i%es
(''ress<Da!a #"%1er o%1i#a!io#
-T12D > a''ress 1i!s a#' @ 'a!a 1i!s
-T12F= 12 a''ress 1i!s o#$0
B"i$!-i# osi$$a!or #ee's o#$0 ?X resis!or
Va$i' !ra#s%issio# i#'ia!or
Eas0 i#!er)ae ,i!h a# +F or a# i#)rare' !ra#s%issio# %e'i"%
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page 2?
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
.i#i%a$ e/!er#a$ o%po#e#!s
Pair ,i!h -o$!e*s 212 series o) e#o'ers
1>-pi# D4P, 20-pi# :OP pa*age
11.*. DC MOTOR DRIVER" IC L21)D
DIFFERENTIAL DRIVE
B0 "si#g !,o %o!ors ,e a# %o&e o"r ro1o! i# a#0 'ire!io#. This s!eeri#g %eha#is% o) ro1o!
is a$$e' as 'i))ere#!ia$ 'ri&e.
DC MOTOR 0IT. GEAR
The DC %o!ors 'o#7! ha&e e#o"gh !or;"e !o 'ri&e a ro1o! 'ire!$0 10 o##e!i#g ,hee$s i# i!.
Bears are "se' !o i#rease !he !or;"e o) ' %o!or o# !he e/pe#se o) i!s spee'.
M&!%$5&!ic&( i'!$r8r$!&!i9'"
+o!a!io#a$ po,er 2Pr3 is gi&e# 10=
Pr MTor;"e 2T3 5 +o!a!io#a$ :pee' 2Y3
Th"s
Pr is o#s!a#! )or DC %o!or )or a o#s!a#! i#p"! e$e!ria$ po,er. Th"s !or;"e 2T3 is i#&erse$0
propor!io#a$ spee' 2Y3.
Th"s !o i#rease !he &a$"e o) !or;"e ,e ha&e !o $oose spee'.
N9!$"
U 4# !o0 ar, !here is a gear 1o/ !ha! o#!ai#s se&era$ o%1i#a!io#s o) gears.
U Beare' %o!or has gears 1o/ a! i!s )ro#!.
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T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
APPLICATIONS
B"rg$ar a$ar% s0s!e%
:%o*e a#' )ire a$ar% s0s!e%
Barage 'oor o#!ro$$ers
Car 'oor o#!ro$$ers
Car a$ar% s0s!e%
:e"ri!0 s0s!e%
Cor'$ess !e$epho#es
O!her re%o!e o#!ro$ s0s!e%s
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T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
12.PO0ER SUPPL/ DESIGN"#
12.1.TRANSFORMER
We re;"ire ?V a! !he o<p o) !he reg"$a!or.
The 'rop o"! &o$!age o) !he reg"$a!or is 2V 2(s per !he 'a!ashee!3
V' M ?O2 M *V
:o a! !he reg"$a!or i#p"!, !he &o$!age app$ie' sho"$' 1e o) *V.
(or'i#g !o !he )or%"$a,
Vdc = 2 Vm
Vm = Vdc * M H 5 M 17.11V
2 2
D"ri#g o#e 0$e, !,o 'io'es are o#'"!i#g.
Drop o"! &o$!age o) o#e 'io'e M 7.*V
Drop o"! &o$!age o) !,o 'io'es M 0.HVO0.HV M 1.4V
Vin = Vm + V (drop out) M 10.FFV O 1.@V M 1).)1V
Vrms = Vin M 18.FH M ,.*65V
2 Z2
:o ,e se$e! !ra#s)or%er o) 1V.
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T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
:i%i$ar$0,
Im = Idc* M @?0%5 M *76.,55A
2 2
Irms = Im M H0G.>?% M 411.,25A
2 Z2
:o ,e se$e! !he !ra#s)or%er o) "rre#! ra!i#g 5775A.
Co#si'eri#g !he a1o&e !ra#s)or%er ra!i#g, ,e !a*e !he !ra#s)or%er o) 7#
1V:5775A.
Transformer 0-9V/1A step-down transformer.
12.2. FILTER CAPACITOR
C = IL*t1
Vr
Where,
VrMripp$e &o$!age, 4CM$oa' "rre#!, !1M!i%e '"ri#g ,hih !he
apai!or 1ei#g 'isharge' 10 $oa' "rre#!.
Vr M 1V, !1M >.8%s, 4CM 120%( Vr M 1V, !1M ?.2%s, 4CM @00%(
C M >.8%s5120%( M 116;F
1V
:o ,e !a*e s!a#'ar' &a$"e o) apai!or C<1777;F.
R$&49'4 =9r c%994i'> Bri?>$ R$c!i=i$r &r$
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page 2F
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
The TUF is i#rease' !o 0.>12 as o%pare' !he )"$$ ,a&e re!i)ier.
The P4V aross eah 'io'e is !he pea* &o$!age aross !he $oa'M Vm
a#' #o! 2Vm as i# !he !,o 'io'e re!i)ier.
O"!p"! o) !he 1ri'ge re!i)ier is #o! p"re DC a#' o#!ai#s so%e (C
ripp$es i# i!. To re%o&e !hese ripp$es ,e ha&e "se' apai!i&e )i$!er, ,hih
s%oo!he#s !he ripp$e' o"!p"! !ha! ,e app$0 !o H>0? reg"$a!or 4C !ha! gi&es
?V DC. We pre)er !o hoose apai!or )i$!ers si#e i! is os! e))e!i&e,
rea'i$0 a&ai$a1$e a#' #o! !oo 1"$*0.
SIMULATION OF PO0ER SUPPL/
1). SOFT0ARE"#
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page 80
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
1).1 ALGORIT.M"#
S!$8 1= :!ar!
S!$8 2= Por! i#i!ia$i6a!io#
S!$8 )= De!e! !he posi!io# o) se#sor
S!$8 4= Co%pare !he 'a!a 10 o%para!or
S!$8 5" :e#' !ha! 'a!a !o %iroo#!ro$$er, i! ,i$$ !a*e 'eisio# aor'i#g !o 'a!a reei&e'
S!$8 6= E#o'e !he 'a!a a#' !ra#s%i! i!
S!$8 *= Deo'er 'eo'es !he reei&e' 'a!a
S!$8 ,= (or'i#g !o 'a!a %o!or 'ri&er ,i$$ !a*e 'eisio#
S!$8 1= .iroo#!ro$$er ,i$$ reei&es !he re;"es! )ro% %o!or 'ri&er, a#' ,i$$ gi&e or'er
!o DC %o!or !o %o&e i# !he &ehi$e i# appropria!e 'ire!io#.
S!$8 17= Bo !o s!ep1
1).2 FLO0C.ART"#
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page 81
:T(+T
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR









1).)CODE"
TRANSMITTER"
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page 82
DIVE ISTRCCTION TO
MICROCONTROLLER
PO+T 4N4T4(C4J(T4ON
BET D(T( F+O. :EN:O+
EECOEE T:E
RECEIVEE EATA
IF
EIRECTI
ON
SENSOR
IS
C:ANDE
E
REMAIN IN
EEFACLT
STATE
STOB
.OTO+ D+4VE+
.OVE:
VE-4CCE
ENCOEE T:E EATA ANE
TRANSMIT TO RECIVER
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
O+B 00- 9 +ese!
.OV :P,[G0-
CC+ P2.H
CC+ P2.G
CC+ P2.?
CC+ P2.@
9------------------------------------------------------------
C0= CC(CC D?00
\B P1.0,C1
.OV P2,[01-
C1=
\B P1.1,C2
.OV P2,[02-
C2=
\B P1.2,C8
.OV P2,[08-
C8=
\B P1.8,C@
.OV P2,[0@-
C@=
\B P1.@,C?
.OV P2,[0?-
C?=
\B P1.?,CG
.OV P2,[0G-
CG=
\B P1.G,CH
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page 88
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
.OV P2,[0H-
CH=
\B P1.H,C>
.OV P2,[0>-
C>=
C\.P C0
9-------------------------------------------------------------
D?00= .OV +1, [10
(B8= .OV (, [100
(B2= .OV B, [2@>
(B1= D\NJ B, (B1
D\NJ (CC, (B2
D\NJ +1, (B8
+ET
END

RECEIVER"
O+B 00- 9 +ese!
.OV :P,[G0-
CC+ P8.@
CC+ P8.?
CC+ P8.G
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page 8@
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
CC+ P8.H
9------------------------------------------------------------
C0=
CC(CC +E(D1
C\NE (,[01-,C1
:ETB P8.@ 9FW
CC+ P8.?
:ETB P8.G
CC+ P8.H
C1=
C\NE (,[02-,C2
CC+ P8.@ 9+EV
:ETB P8.?
CC+ P8.G
:ETB P8.H
C2=
C\NE (,[08-,C8
:ETB P8.@ 9CEFT
CC+ P8.?
CC+ P8.G
:ETB P8.H
C8=
C\NE (,[0@-,C@
CC+ P8.@ 9+4B-T
:ETB P8.?
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page 8?
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
:ETB P8.G
CC+ P8.H
C@=
C\NE (,[0?-,C?
CC+ P8.@ 9:TOP
CC+ P8.?
CC+ P8.G
CC+ P8.H
C?= C\.P C0
9--------------------------------------------------------------
+E(D1=
DD0= .OV (,[00-
:ETB P2.0
\B P2.0,DD0(
CC+ (CC.0
:\.P DD0B
DD0(= :ETB (CC.0

DD0B=
:ETB P2.1
\B P2.1,DD1(
CC+ (CC.1
:\.P DD1B
DD1(= :ETB (CC.1
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page 8G
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
DD1B=
:ETB P2.2
\B P2.2,DD2(
CC+ (CC.2
:\.P DD2B
DD2(= :ETB (CC.2

DD2B=
:ETB P2.8
\B P2.8,DD8(
CC+ (CC.8
:\.P DD8B
DD8(= :ETB (CC.8

DD8B= +ET
9-------------------------------------------------------------
D1000= .OV +1, [10
(B8= .OV (, [200
(B2= .OV B, [2@>
(B1= D\NJ B, (B1
D\NJ (CC, (B2
D\NJ +1, (B8
+ET
END

14.PCB LA/OUT"
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page 8H
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
TRANSMITTER" RECEIVER"


DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page 8>
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR

15.APPLICATIONS"
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page 8F
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
.i$i!ar0= 4# %i$i!ar0 )or sa)e!0 opera!io#s posi!io# o#!ro$$er is "se'. We a# opera!e !his
o#!ro$$er s!a0i#g a! ho%e a#' %a*e !he ro1o! !o 'o ,or* a! ha6ar'o"s p$aes.
4#'"s!r0= 4# i#'"s!r0 !o %i#i%i6e !he e))or!s o) !he ,or*ers 10 "si#g %ahi#es ,hih are
o#!ro$$er 10 !his o#!ro$$er. 4!7s 1e#e)iia$ )or i#'"s!ria$ gro,!h.
Bes!"re o#!ro$= Bes!"re o#!ro$$i#g is !he "prisi#g app$ia!io# o) i!. We a# o#!ro$ !he
%o&i#g 1o'0 aor'i#g !o 1o'0 %o&e%e#!.
:a!e$$i!es= (s !his o#!ro$s !he posi!io#, ,e a# o#!ro$ !he posi!io# o) sa!e$$i!e.
:paeships= B0 gi&i#g !he i#s!r"!io#s !o ro1o! ,e a# opera!e !he spaeship !hro"gh !he
ear!h.
16.FUTURE E-PANSION"
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page @0
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
De&e$op%e#! o) Bes!"re o#!ro$$er is !he )"!"re ai% o) sie#!is!s.
Co#!ro$ o# sa!e$$i!e a#' spaeships ,i$$ 1e grea! ahie&e%e#! )or sie#!is!s as i! ,i$$
%a*e %"h e&o$"!io# i# !eh#o$og0.
1*.ADVANTAGES"
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page @1
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
+e$ia1i$i!0
Co, os!
:i%p$e !o 'e&e$op
Co, %ai#!e#a#e
Ca# "se a%era a#' !a*e !he i%ages posi!io#s.
Ca# "se +F %o'e%, ,hih pro&i'es goo' res"$!.
1,. BILL OF COMPONENTS"
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page @2
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
SR
NO.
COMPONENTS @UATIT/ COST PER
COMPONENT
TOTAL
1. 4C (T>F:?2 2 @2 >@
2. 4C C.H>0? 1 ? ?
8. (CCECE+O.ETE+ 1 H00 H00
@. 2 P4N .(4N: C(BCE 1 1> 1>
?. FV (C ?00.(
T+(N:FO+.E+
1 @> @>
G. 1N@00H D4ODE: > 0.?0 @
H. C(P(C4TO+: G 1 G
>. C2F8D 1 G0 G0
F. 12V DC .OTO+ 2 1?0 800
10. W-EEC: @ 10 @0
11. 10A +E:4:TO+: @ 10 @0
12. C+I:T(C
O:C4CC(TO+:12.-J
1 ? ?
18. TE@88 1 1?0 1?0
1@. +E@88 1 1?0 1?0
1?. -T12E 1 @0 @0
1G. -T12D 1 @0 @0
1H. DP BO(+D 1 @? @?
TOT(C 1H2H<-
11.CONCLUSION"
Posi!io# o#!ro$$er "si#g ae$era!io# se#sor is "se)"$ )or h"%a# as i! %i#i%i6es !he
e))or!s a$so 1e#e)iia$ i# se"ri!0 ,or* s"h as %i$i!ar0 app$ia!io#s a#' i#'"s!ria$ "se.
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page @8
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
4! a# 1e "se' i# sa!e$$i!e a#' spaeships.
Bes!"re o#!ro$$er is i!s )"!"re e/pa#sio#.
27.REFERENCE"
B99A4"
>0?1 %iroo#!ro$$er 10 .a6i'i
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page @@
T.E-I (E&TC) POSITION
CONTROLLER USING ACCELERATION SENSOR
Pri#!e' Cir"i!s Boar's-Dr.+.:.Aha#'p"r, Ta!a .Bra,--i$$ P"1$ishi#g Co%pa#0
Ci%i!e'
0$34i!$4"
e#.,i*ipe'ia.org
ai.s!a#)or'.e'"
,,,.a#a$og.o%
,,,.ar'"i#o.o%
s!a1-ii!1.org<,i*i<Bes!"reDCo#!ro$$e'DCar
,,,.ro1o!ishapp0.o%
DEPT OF E&TC, BVCOEW, PUNE 2011-12 Page @?