Tekerlek ebatları değişebilen uzaktan kumandalı takip cihazı
Remote controlled tracking system of which size of tire is adjustable
Yazar: EMİRHAN ÇAĞRI TÜRKOĞLU
Danışman: DOÇ. SERHAT İKİZOĞLU
İstanbul Teknik Üniversitesi / Fen Bilimleri Enstitüsü / Kontrol ve Bilgisayar Mühendisliği Ana Bilim Dalı / Kontrol ve Otomasyon Mühendisliği Bilim Dalı
Derece: Yüksek Lisans, 2018
Konu: Elektrik ve Elektronik Mühendisliği = Electrical and Electronics Engineering ; Mekatronik Mühendisliği = Mechatronics Engineering

Özet:
Tekerlek ebatları değişebilen uzaktan kumandalı takip sistemi isimli tez çalışmamda kullanılacak aracın 3 boyutlu tasarımı yapılmış, tasarlanan aracın 3D yazıcı ile üretimi sağlanmış,elektriksel ve mekaniksel ekipmanlar 3D yazıcı ile üretilen tekerlekler ve araç şasesi üzerine monte edilmiş,aracın uzaktan kontrolü için kontrol ünitesinin programlamı tamamlanmış ve yapılan bu program ile demo aracın hareketi sağlanmıştır.
Bu çalışma sırasında öncelikle geniş kapsamlı olarak mikro denetleyiciler, bu çalışmada kullanılan Atmega ARX-34 ve 16F877A mikro işlemciler, uzaktan kumanda sistemleri, step ve DC motorların çalışma prensibi ve bu motorları kontrol eden sürücü devreleri, RF modülatörün kullanım şekli ve iç yapısı,  Arduino sistemler ve özellikleri, LCD ekranların mantığı ve yapılanması, kablosuz kameraların çalışma prensipleri,3 boyutlu tasarım için kullanılan programlar ve 3D yazıcının çalışma prensibi ve programlaması üzerine literatür çalışması yapılmıştır.
Bu literatür taramasından sonra ise kablosuz haberleşme sistemleri, tasarımda kullanılan ekipmanlar ve sistemlerin matematiksel modellemesi üzerine yerli ve yabancı kaynaklardan araştırma yapılarak literatür çalışması tamamlanmış ve tez çalışmasının ikinci adımına geçilmiştir. 
Bu aşamada ilgili sistem ekipmanları temin edilmiştir. Ekipmanların temininden sonra ise araç tekerleklerinin ve şasenin tasarımı üç boyutlu çizim programında hazırlanmış ve bu tasarımına göre 3D yazıcı ile üretimi sağlanmıştır. Üretim sürecinde karşılaşılan istenilmeyen durumların üretim için kullanılan malzemenin katman kalınlığı ve doluluk oranı değiştirilerek üstesinden gelinmiştir. Daha sonra sistemde kullanılacak ve temin edilmiş olan ekipmanlar araç şasesi ve tekerleğinin üzerine monte edilmiştir. Aynı zamanda, kumanda ve araç haberleşmesi için kullanılan alıcı devresi araç şasesinin üzerinde bulunmaktadır. Sistemin uzaktan kumandası üzerine LCD ekran takılmış ve bu kumandanın içine ise verici devresi konulmuştur. Daha sonra ilgili kontrolörler yardımı ile uzaktan kumandayı ve haberleşmeyi sağlayacak yazılım yapılmıştır.Bu sayede araç üzerindeki kameradan gelen görüntü kumanda üzerindeki LCD ekrana aktarılmakta ve kumanda üzerindeki butonlar yardımı ile kamera ve araca,yön ve hız verilmektedir.Aynı zamanda kullanıcı istediği takdirde kameradan aldığı görüntü doğrultusunda aracın tekerleklerinin çapını yine kumanda üzerindeki buton yardımı ile değiştirilebilmektedir. Ekstra olarak aracın önünde 2 adet optik sensör bulunmaktadır. Bu sensörler sayesinde araç karşılaştığı engelin yüksekliğini bilmekte ve tekerleklerini otomatik olarak engeli geçebilecek ebatlara getirmektedir. Bu şekilde aracın test ve denemeleri yapılmış ve sistemin kontrolleri gerçekleştirilerek çalışmanın tamamlanması sağlanmıştır. Son aşamada ise aracın dinamik modeli oluşturulmuş, minumum enerji sarfiyati için hangi koşullar gerektiği belirlenmiş, aracın belirlenmiş yükseklikleri ne kadar bir tork ve tekerlek yarı çapı ile aşabileceğine dair açıklamalar yapılmış ve açıklamalar yapılmış matematiksel temellere dayandırılmıştır.

Abstract:
The 3D design of the car which will be used on my thesis study called as Remote controlled Tracking system of whichsize of tires is adjustable was done,the production of the designed car was supplied by 3D printer,electrical and mechanical equipments were assembled on the tires produced by 3D printer and on the chasis of the car,the programming of the control unit for the remote control of the car was completed and the movement of the demo car was actualized with that prpgramming.
The rf modul, as the name suggest, operates radio frequency. The corresponding frequency range varies between 30 Khz and 300 Ghz. In this radio frequency system, digital data is represented as variations in the amplitude of carrier wave. This kind of modulation is knows as amplitude shifht keying. And for this designed system is used radio frequency modul that is bound rate 2.4 Ghz.
Literature review on firstly and comprehensively for microcontrollers, Atmega ARX-34 and 16F877A microprocessors used in the study,remote control systems,the working principle of Step and DC motors,the driver circuits that control these motor,the usage and internal sturucture of RF modulator,ardunio systemsand its properties,the settlement and reasoning of LCD screens,the working principles of wireless cameras,the programs used for 3D design and programming and working principle of 3D printer was made during the study.
3D printing or additive manufactoring is a process of making three dimensional solid object from the digital file. The creation of 3D printed object is achieved using additive processes. In additive process an object is created by laying down successive layers of material until the object is created. Each of this layers can be seen as a thinly sliced horizontal cross section of the eventual object. One of the largest terminologie is layer density in the 3D printer. If we decrease layer density, we can give a detail to production but it causes increase weak point. For this reaseon, many trial results, ı had determined 0.2 milimeter of layer density. 0.2 milimeter is the best option between detail and resistance. The name is akrilonitril bütadien stiren that ı used material when ı created system. Another materials on the 3D printer are respectively filament, nozzle and hotend. 
The literature review was completed by searching from local and foreign sources on wireless communication systems, the mathematical patterns of equipments and system used in design. I gathered information for about the what is the important thing while ı am designing electronic circuit board , how wireless comminication uses on the circuit board and which bound rate must ı define and what kind of material must ı use for the 3D printer and something like that. And ı proceed to second step.
During The equipments of related system was supplied on this stage. The design of chasis and tires of car was prepared on 3D drawing program after the procurement of the equipments and it was manufactured in accordance with that design with 3D printer. I overcame unintended consequences faced during the manufacturing process by changing layer thickness and the rate of fullness of the material used for production.After that,the equipments that was provided and will be used in the system were assembled on the tire and chasis of the car. At the same time,the acceptor circuit used for controlling and communicatin in car is on the chasis of the car. LCD screen was placed on the remote control of sytsem and transmitting system was positioned in this remote control. Later,the software that will provide the communication and remote controlling by the help of the related controllers was made. By this means, the dispaly that comes from te camera on the car is transmittedto LCD screen, the camera and the car are accelerated and directed by the help of the buttons on the remote control. At the same time, the user can change diameter of the car's tires through the display transmitted from camera by the help of the button on the remote control if desired. 
There are twelve different buttons in the command. Four of them allow vehicle movement and the other four of them allow camera movement. Two of them adjust velocity of vehicle ant the other two of them control velocity of camera. Besides there are eight different lamb in the command. Four of them show velocity of vehicle and the other four of them show velocity of camera.
Additionally, there are two optic sensor in front of the car. And there are two circuit board in the system which is designed. First circuit board is on the vehicle chasis and second circuit board is inside of command. There are two different buttons on the command for this application. One of this buttons provide manual motion and other one provide automatic motion. If press manual control button, when the wheels of vehicle, the sensors start to deport oneself. If press automatic button, the sensors evaluate the information which is receive and make possible to reach diameter of wheels of vehicle as much as exceed obstacle. There are two servo motor behind the sensor. The sensors move with this motors help. Measurement distance of sensors is more or less eighty centimeter. This kind of sensors gives the output as a analog between zero and eight centimeter. In this way, the car knows height which it encounter obstacle and it changes its wheels diameter as much as exceed this obstacle automatically. 
There are stepper motors, battery and circuit board which is control diameter of wheels of vehicle in the wheels of vehichle. There is voltage regulator in this circuit board. This voltage regulator convert the voltage from the twelve volt which is coming battery to five volt and three point three. Microprocessor needs five volt and the other and radio  frequency modul needs three point three volt. That's why, there are two different voltage in the circuit board. There are four different buttons on the command for this administration. Two of them control right wheel of vehicle, other two of them control left wheel of vecihle. When press first of this two button, diameter of wheels of vehichle are increased, other button decrease diameter wheels of vehicle. So, the test of car was completed and the study was completed by checking the system.
In next step, I started to promramming to microcontroller on the electrical circuit board. There is a microcontroller called 16F877A on the sender and reciever electrical circuit board seperately which is controlled vehicle and camera movement.
This microcontrollers provides a wasteverity  of microcontrollers from pıc family. Each microcontrollers has its own advantage and disadvantage. There are many parameters that one has to consider before selecting a microcontroller for this project. It has a good online comminty support and wide application and size and price is limitation and it is a good choices based on the sensors and actuators used the project. That's why ı prefer to use this kind of microcontroller. 16F877A microcontroller can be programmed with different softwares that is available. This projects language is picbasic and also that I used to application for this program is picbasic pro. I prepared just about three hundred line program for all microcontrollers. The most biggest detail is same bound rate must use for receiver and sender controllers, otherwise we can not comminicate between them. There is  a microcontroller called atmega on the sender and receiver electrical circuit board which is controlled diameter wheels of vehicle. Totally for receiver and sender microcontrollers, I created approximately two hundred line program. This kind of microcontroller language is arduino. Language of arduino is working 16 Mhz frequency under normal condition, but this microcontroller which ı use working 8 Mhz frquency, therefore I added 16 Mhz frequency crystal.
In the last stage, the dynamic model of the car was created, what conditions we need for the minumum expenditure of energy was designated,it is clarified to about designated height the car can be exceeded with which value of torque and tire diameter. First of all, I created velocity torque graphics. I compute torque value for all ı defined velocity value. After that, ı calculated required power for all velocity value and ı demonstrate as a graphic. As we known torque value of for every velocity value, when ı divide torque to effort distance namely shaft diameter for ı design system, we can easily find force value for every velocity value. After ı find tovalue of force, ı obtained respectively frictional force and which diameter value of vehicles wheel can exceed which size of obstacle. And the explanation are based on mathematical basic. 
I examine documents that is written parameter of Dc motor which is control movement of vehicle and then prepare transfer function. A system can be defined as a mathematical relationship between input, output and state of system. The simplest representaton of  system is through ordinary differential equation. When dealing with ordinary differential equation, dependent variables are function of a positive real variable. By applying laplace transform we switch from a fucntion of time to function of complex variable and the differential equation becomes an algebric equation. The transfer function defines to relation between the output and the input of the dynamic system, written of complex form. For a dynamic system with an input and an output, transfer function is the ratio between the complex representation of the output and input. And after, transfer function is designed on the matlab program. I find out many velocity and position grapfic which is related system under load and free load. This graphics coincide real value.
The purpose of vehichle which is designed obtain receive picture from the unreachable place by the people. If this aplication should be success, we can obtain picture from chemical land, mined area and unreachable place. The biggest advantage of this vehicle is that it can move under dangerous condition. As well as maybe in order to improve to project, can put ıp camera for following in the internet. If one infrared camera added in project, the vehicle can find to its way without the light.