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RUNNING LINEAR ACTUATOR without feed back 
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Joined: Sat Jan 04, 2014 3:12 am
Posts: 2
Post RUNNING LINEAR ACTUATOR without feed back
Dear all,

I am trying to do single axis solar tracker with linear actuator /rtc/ UNO. I have already done with feedback sensor. Now Here i am trying to without feedback.
Linear actuator specification: 24v , 3.2mm/sec as speed , 600mm stoke.

Desired angle calculation: tracking start from 7am to 18PM, 11hours
Assumed degree: 7AM as -45 deg , 12.30 as 0 degree and 18 pm as 45 degree.
static float slope= 0.00227272727273;
static float intercept=- 102.272727273;
TS=(3600*hour)+(60*minute);
Desire_Degree=(TS*slope)+intercept;

Problem part : calculating actual angle/ calculation for Ton time and convert in to +/-45 degree format.
rate=distance/ time
Ton=600mm/660minute = 10/11 mm each minute
time * 3.2mm/sec = 10mm / 11
time= (25 / 88) sec/minute;
if i wanna run for 2 sec ->(2*88/25)= 7.04 i.e actuator must on for 7 minute;
angle= ((3 * position) / 20) - 45 and
or
position =((angle + 45) * 20) / 3
since position = 3.2 * time
angle =((96 * time) / 200) - 45.
How can i put time here.
can someone help me coding for calculating Ton time and solve above equation. below i posted my code . I need it has to be modified little bit. i need to implement ton time actuator here.


Code:
double Desire_Degree;
unsigned int TS;
static float slope= 0.00227272727273;
static float intercept=- 102.272727273;
static int length;
double Actual_Degree;
static int h;
static int m;
double Actual_postion;
static float ACT_SPEED=3.2;


void setup()
{
   h=7;
  m=30;
 
 
Serial.begin(9600); 
}
static int time_interval;

void loop()
{
  calc_min();
  //Desire degree calculation
  if(h<23)
  {
  TS=(3600*h)+(60*m);
  Desire_Degree=(TS*slope)+intercept;
 
  //Actual anngle calculation
  time_interval=(10)/(11*ACT_SPEED)*(25/88);
 // length=(TS*3.2);
  length =(0.0151466666667*TS - 381.504);
  Actual_Degree=((3 *length) / 20) - 45;
 
  Actual_postion=((Actual_Degree + 45) * 20) / 3;
 
 
 
 // actual_deg=((3*length)/200)-45;
  Serial.print("HH-MM: ");
  Serial.print(h);Serial.print(":");Serial.println(m);
  Serial.print("Desired Degree:");
 Serial.println(Desire_Degree);
 Serial.print("Actual Degree:");
 Serial.println(Actual_Degree);
 Serial.print("length:");
 Serial.println(length);
 Serial.print("Actual pos:");
 Serial.println(Actual_postion);
Serial.println(".................................");
 
  } 
  delay(1000);
}

void calc_min()
{

if(m<60)
{
   m=m+5;
}else if(m==60)
{
  m=0;h=h+1;
}
}



Sat Jan 04, 2014 3:15 am
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Joined: Thu May 24, 2012 12:15 pm
Posts: 556
Post Re: RUNNING LINEAR ACTUATOR without feed back
You may get a better response posting this to the Arduino forums (http://forum.arduino.cc/) as this code is using the Arduino software (and we generally focus on ROBOTC-related questions on these forums).

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Tue Jan 21, 2014 11:30 am
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