This report has been approved by the

Supervisor Mr. Nguyen Duy Cuong

Signed
………………….………………….
Date
………………….………………….

Faculty Dean

Signed
………………….………………….
Date
………………….………………….

Composition of the committee (optional)

Prof. Dr…………….... Thainguyen University of

Technology
Prof. Dr…………….... Thainguyen University of
Technology
Prof. Dr…………….... Thainguyen University of
Technology
 Acknowledgements

First of all, we would like to thank my supervisor Mr. Nguyen Duy Cuong . Despite of his
busy schedules, he always accompanies with us to finish this project. He had planned for our meeting
once a week for asking any questions that we have faced in the process of doing research. He has much
knowledge about this subject. He had provided us basic knoweldge about electrical sciences, control
methods. He also helped me very much to accomplish this thesis, directed me how to write some
difficult parts. Simply, I could not look forward to a better and more enthusiastic supervisor. Besides our
supervisor, we would like to thank other teachers for supporting me to finish this project.
Abstracts
In today's modern engineering field, manufacturing power converters with high voltage quality and
compact size for electrical devices is extremely necessary. The process of converting a DC voltage into
another DC voltage is called the DC - DC conversion process with popular converter circuits such as
buck converter, boost converter, flyback converter... learned in the power electronics. Putting knowledge
into practice is no longer strange to students studying at universities, especially technical
schools. In this senior design II, we have chosen the topic: "DC - DC boost converter circuit design".
 CONTENT
CHAPTER 1 INTRODUCTION..................................................... 6
1.1 Motivation..................................................................................... 6
1.2 Literature Review........................................................................ 6
1.3 Contribution................................................................................. 6
1.4 Organization................................................................................. 7
CHAPTER 2 BACKGROUND....................................................... 8
2.1 DC Motor ..................................................................................... 8
2.1.1 Structures .................................................................................. 8
2.1.2 Operation of principle.............................................................. 9
2.1.3. Equivalent circuit.............................................................. .... 10
2.2 H-Bridge............................................................................... ...... 11
2.2.1 Structures................................................................................. 11
2.2.2 Operation of principle............................................................ 11
2.2.3. Equivalent circuit................................................................... 12
2.3 Pulse Width Modulation(PWM)............................................... 12
2.4 PID controller..............................................................................13
2.4.1 Introduction..............................................................................13
2.4.2 PID Control..............................................................................14
2.4.3 The effect of PID......................................................................15
CHAPTER 3 SYSTEM AND CONTROL DESIGN....................16
3.1 System components.....................................................................16
3.1.1 Arduino.....................................................................................16
3.1.2 L298N .......................................................................................21
3.1.3 Power supply...........................................................................24
3.1.4 Encoder.....................................................................................24
3.1.5 Encoder Integrated Geared Servo Motor .............................27
3.2 Circuit Explanation....................................................................28
3.2.1 The problem of controlling the speed of the DC motor using PID equalization and
encoder feedback ........................................28
3.2.2 The single-pin configuration is INPUT_PULLUP ..............28
3.2.3 Algorithm to the code.…….....................................................28
CONCLUSION……..........................................................................30
REFERENCE……............................................................................31
 LIST OF ACRONYMS

dc, DC Direct Current

ac, AC Alternating Current
DSO Digital Storage Oscilloscope
DSP Digital Signal Processor
MOSFET Metal Oxide Semiconductor Field-effect Transistor
pf, PF Power Factor
PI Proportional and Integral
PID Proportional-Derivative-Integral
rms, RMS Root Mean Square
SMPS Switch Mode Power Supply
SSA State-Space Averaging
SSE Steady-State Error
PWM Pulse Width Modulation
GM Gain Margin
GCF Gain Crossover Frequency
PM Phase Margin
ESR Equivalent Series Resistance
OVR Output Voltage Ripple
CCM Continuous Conduction Mode
DCM Discontinuous Conduction Mode
 CHAPTER 1
INTRODUCTION
1.1 Overview
In the modern world, electric power has become a necessity for
domestic appliances as well for industrial applications. There are various
applications, which require the electric power in different forms like AC
(Alternative current) or DC (direct current), constant or variable voltage, fixed
or variable frequency, etc. Generally, at the consumer end, the electrical power
is supplied in AC form with fixed voltage magnitude and fixed frequency (50
or 60 Hz). Therefore, to meet the demands of the different consumers, various
types of power electronic converters have been developed. They convert one
form of electrical power into another required form. Broadly, the power
electronic converters can be classified into four types:
1. AC-DC converters: These power electronic circuits convert AC
voltage into a fixed or variable DC voltage. For example, diode rectifiers
convert AC voltage into fixed DC voltage, whereas phase controlled rectifiers
convert AC voltage into variable DC voltage.
2. DC-AC converters: They are also known as inverters. The input
voltage to this converter is DC, which is converted into AC voltage of desired
magnitude and frequency by varying the conduction period of the switches.
3. AC-AC converters: They convert fixed frequency and fixed
magnitude AC voltage into variable magnitude AC voltage with same or
variable frequency. For example, AC voltage regulators convert fixed AC
voltage into variable AC voltage with the same frequency, whereas cyclo-
converters give variable AC output voltage with variable frequency.
4. DC-DC converters: These converters transform electrical power of
fixed DC voltage into variable DC voltage by controlling the conduction time
of the switching devices. In this thesis, the research work related to DC-DC
converters have been carried out and discussed in the subsequent sections and
chapters.
1.2 Introduction to DC-DC
Modern electronic systems require high quality, compact, light-weight,
reliable and efficient power supplies. For conventional low-power
applications, the linear voltage regulators have generally been used. These
linear regulators work on the principle of voltage divider circuit. The linear
regulator can provide the output voltage only lower than the input voltage.
Moreover, their energy conversion efficiency and power density are also low.
This makes them unsuitable for high power applications. For higher power
applications, switching mode DC-DC converters are used. Based on the output
voltage magnitude, a DC-DC switching converter can broadly be classified
into the three categories: buck, boost and buck-boost. The basic topologies are
shown in Fig. 1.1.
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L
c o

V d

(a)

L o
d c

-
(b)

(c)
Fig. 1. Basic DC-DC converter topologies (a) Buck (b) Boost (c) Buck-boost

The buck converter has an output voltage lower than the input voltage.
It gives a continuous output current and lesser output voltage ripple requiring
low value of capacitance. However, the input current is discontinuous (pulsed)
in this topology, which requires the input filter. The boost converter provides
an output voltage greater than the input voltage. The 3 input current is
continuous, which eliminates the need of input filter. However, the output
current is discontinuous (pulsed) in this topology and therefore, requires high
value capacitance to reduce the output voltage ripple. The buck-boost
converter gives an output voltage, which can be lower, equal or higher than the
input voltage. The input current and output current both are discontinuous.
The polarity of output voltage is opposite of the input voltage. These three
basic topologies of DC-DC converters have simple configurations involving
only one semiconductor switch, one diode, one inductor and one filter
capacitor.

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1.3 TASK ANALYSIS

DC boost converter circuit design with technical requirements:

 Vin = 2,7 – 4,2V

 Vout = 5V, error 5%
 Iout, max = 2A

Scope of research
 •Research based on knowledge learned in the power electronics
module
 •Learn more knowledge on the internet from teachers and friends
This project orients students to make power electronic circuits to help
students master knowledge and know how to apply it in practice. Get familiar
with designing and making real circuits.
The design of the boost converter circuit is not too complicated, but the
problem of control to achieve high variable efficiency and ensure stability has
always been the goal of research works.

CHAPTER 2
OVERVIEW OF DC-DC BOOST CONVERTER CIRCUIT
2.1 Structure and principle diagram

DC-DC boost converter (or DC-DC step-up converter) is a DC to DC

power converter that increases voltage (while reducing current) from input
(supply) to output (load). .
This circuit includes 4 basic electronic components: coil L, Mosfet
switch, diode D and capacitor C.

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Power for the booster circuit can come from any suitable DC source, such
as lion batteries, solar cells, rectifiers and DC generators.

Figure 2 : Boost circuit principle diagram

2.2 Principle of operation

When the Mosfet conducts (clicks on pin G), the voltage on L is equal to
Vin, at this time diode D is disconnected due to reverse polarity and it will
cut off the load circuit from the source and the current in coil L will
appear and gradually increase. From the initial value of IL,min, the
current through the load is maintained thanks to capacitor C acting as a
source (Capacitor C discharged).
By the time we turn off the Mosfet, an inductance voltage appears on the
coil L to counteract the decrease in current IL. This inductance voltage
plus the positive source Vin placed on the anode leg of the diode causes
the diode to conduct immediately and it additionally charges capacitor C.
This process keeps repeating and voltage is supplied to the load. The
figure below describes this process more clearly.

Figure 3: Operating principle of boost converter circuit

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2.3 Application
Make desulfate circuits to maintain batteries and power devices that
require high voltages of several tens of volts but the power supply has low
voltages of 1.5V or 3.7V. Increase voltage in pulse sources such as TVs and
LEDs.
2.4 PID CONTROLLER
2.4.1 Introduction

’
Figure 2.12 PID controller

Where
 P (Proportional) is a scaling adjustment method, which helps to
create a signal that adjusts proportionally to the input deviation
according to the sampling time.
 I (Integral) is the integral of the deviation over sampling time.
Integral control is a tuning method for generating correction signals
such that the deviation decreases to zero. This tells us whether the
total error is instantaneous over time or accumulated error in the
past. The smaller the time, the stronger the integral adjustment
effect, which corresponds to the smaller the deviation.
 D (Derivative) is the differential of deviation. Differential control
generates a tuned signal so that it is proportional to the rate of
change in input bias. The larger the time, the stronger the differential
adjustment range, which corresponds to the faster the regulator
responds to input changes.
2.4.2 PID Control
The PID control scheme is named after its three calibration stages, the sum
of which is made up of control variables (MVs). We have

Inside

• Pout Proportional factor of output

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• Kp Scale factor, adjustable parameters

• e error = SP-PV
• = t time or instantaneous time (current)

• Iout Scaling factor of output

• Ki Scale factor, adjustable parameters
• e error = SP-PV
• = t time or instantaneous time (current)

• Dout Scale factor of output

• Kd Scale factor, adjustable parameters
• e error = SP-PV
• = t time or instantaneous time (current)
Totally we have

2.4.3 The effect of PID

PID stands for "Proportional-Integral-Derivative", which is a traditional
feedback control method in automation systems. PID has the following effects
on parts of automation systems
1. Sensor The PID uses the input signal from the sensor to measure the
status of the system. So, the accuracy and reliability of the sensor have
a direct impact on the performance of the control system.
2. Controller The PID controller calculates the control signal based on
input information from the sensor and pre-configured PID parameters.
The quality of the PID controller will determine the speed and accuracy
of the control system.
3. Actuator The execution controller will turn the control signal from the
PID controller into actual action on the system. Therefore, the
capability and reliability of the execution controller will affect the
performance of the control system.
In summary, the effect of PID on parts of an automation system is
important and can affect the performance of the system if any of the above
parts do not work correctly and reliably.

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CHAPTER 3
SYSTEM AND CONTROL DESIGN
3.1 SYSTEM COMPONENTS

Figure 3.1 Wiring diagram

• Arduino Uno R3
• L298N Motor Driver Module
• Encoder
• Adapter 12.6V 2A battery charger
3.1.1. Arduino
[Link] Types of Arduino
The list of Arduino boards include the following such as

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Figure 3.2 Types of Arduino

[Link] Advantages and Disadvantages of Arduino

 Advantages
- Ready to Use Arduino comes in a complete package form which
includes the 5V regulator, a burner, an oscillator, a micro-controller, serial
communication interface, LED and headers for the connections. Just plug
it into USB port of your computer and then you can start to code.
- Examples of codes Another big advantage of Arduino is its library of
examples present inside the software of Arduino.
- Effortless functions Another advantage of Arduino is its automatic unit
conversion capability. You can say that during debugging you don't have
to worry about the units conversions. Just use your all force on the main
parts of your projects.
- Large community There are many forums present on the internet in
which people are talking about the Arduino. Engineers, hobbyists and
professionals are making their projects through Arduino.
 Disadvantages
- Structure During building a project you have to make its size as small as
possible. But with the big structures of Arduino we have to stick with big
sized PCB’s.
- Cost The difference between the costs is mainly due to this programmer
reason. Still if you need one package then the cost difference will be as
less as nearly $5 and it will rise when you have to use many packages.
- Easy to use if you started your journey of micro-controllers with
Arduino then it will be very difficult for you to make the complex
intelligent circuitries in future. The easy to use hardware/software of
Arduino unable a person to learn the basics of many things likes Serial
communication, ADC, I2C etc.
[Link] Arduino Uno R3
The Arduino Uno is an open-source microcontroller board based on the
Microchip ATmega328P microcontroller and developed by [Link]. The
board is equipped with sets of digital and analog input/output (I/O) pins that
may be interfaced to various expansion boards (shields) and other circuits.
The UNO is the best board to get started with electronics and coding. The
UNO is the most used and documented board of the whole Arduino family.

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Structure
Microcontroller ATmega328P
Operating Voltage 5V
Input Voltage
(recommended) 7-12V
Input Voltage (limit) 6-20V
Digital and/or Pins 14 (of which 6 provide PWM output)
PWM Digital I/O Pins 6
Analog Input Pins 6
DC Current per I/O Pin 20 mA
DC Current for 3.3V Pin 50 mA
32 KB (ATmega328P) of which 0.5 KB
Flash Memory used by bootloader
BLEMISH 2 KB (ATmega328P)
EEPROM 1 KB (ATmega328P)
Clock Speed 16 MHz
LED_BUILTIN 13
Length 68.6 mm
Width 53.4 mm
Weight 25 g

* Details of components on the board

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Figure 3.3 Board of an Arduino

Power USB
Arduino board can be powered by using the USB cable
from your computer. All you need to do is connect the USB
cable to the USB connection (1).

Power (Barrel Jack)

Arduino boards can be powered directly from the AC
mains power supply by connecting it to the Barrel Jack (2).

Voltage Regulator
The function of the voltage regulator is to control the
voltage given to the Arduino board and stabilize the DC
voltages used by the processor and other elements.

Crystal Oscillator
The crystal oscillator helps Arduino in dealing with time
issues. How does Arduino calculate time? The answer is, by
using the crystal oscillator. The number printed on top of the
Arduino crystal is
16.000H9H. It tells us that the frequency is 16,000,000
Hertz or 16 MHz.

Arduino Reset
You can reset your Arduino board, i.e., start your program
from the beginning. You can reset the UNO board in two ways.
First, by using the reset button (17) on the board. Second, you
can connect an external reset button to the Arduino pin labelled
RESET (5).

Pins (3.3, 5, GND, Vin)

• 3.3V (6) − Supply 3.3 output volt
• 5V (7) − Supply 5 output volt
• Most of the components used with Arduino board works
fine with 3.3 volt and 5 volt.
• GND (8)(Ground) − There are several GND pins on the
Arduino, any of which can be used to ground your circuit.
• Vin (9) − This pin also can be used to power the
Arduino board from an external power source, like AC mains
power supply.

Analog pins
The Arduino UNO board has five analog input pins A0
through A5. These pins can read the signal from an analog
sensor like the humidity sensor or temperature sensor and

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convert it into a digital value that can be read by the

microprocessor.

Main microcontroller
Each Arduino board has its own microcontroller (11). You
can assume it as the brain of your board. The main IC
(integrated circuit) on the Arduino is slightly different from
board to board. The microcontrollers are usually of the
ATMEL Company. You must know what IC your board has
before loading up a new program from the Arduino IDE. This
information is available on the top of the IC. For more details
about the IC construction and functions, you can refer to the
data sheet.

ICSP pin
Mostly, ICSP (12) is an AVR, a tiny programming header
for the Arduino consisting of MOSI, MISO, SCK, RESET,
VCC, and GND. It is often referred to as an SPI (Serial
Peripheral Interface), which could be considered as an
"expansion" of the output. Actually, you are slaving the output
device to the master of the SPI bus.

Power LED indicator

This LED should light up when you plug your Arduino
into a power source to indicate that your board is powered up
correctly. If this light does not turn on, then there is something
wrong with the connection.

TX and RX LEDs
On your board, you will find two labels TX (transmit) and
RX (receive). They appear in two places on the Arduino UNO
board. First, at the digital pins 0 and 1, to indicate the pins
responsible for serial communication. Second, the TX and RX
led (13). The TX led flashes with different speed while sending
the serial data. The speed of flashing depends on the baud rate
used by the board. RX flashes during the receiving process.

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Digital and/or
The Arduino UNO board has 14 digital I/O pins (15) (of
which 6 provide PWM (Pulse Width Modulation) output.
These pins can be configured to work as input digital pins to
read logic values (0 or 1) or as digital output pins to drive
different modules like LEDs, relays, etc.
The pins labeled “~” can be used to generate PWM.

AREF
AREF stands for Analog Reference. It is sometimes, used
to set an external reference voltage (between 0 and 5 Volts) as
the upper limit for the analog input pins.

3.1.2 L298N

Figure 3.4 L298N Dual H-Bridge Motor Driver Module

The L298N motor driver is based on the H-bridge configuration (an

H-bridge is a simple circuit that lets us control a DC motor to go backward or
forward.), which is useful in controlling the direction of rotation of a DC
motor.
It is a high current dual full H-bridge driver that is constructed to
receive standard TTL logic levels. It can also be used to control inductive
loads e.g. relays, solenoids, motors (DC and stepping motor), etc.
[Link] L298N Circuit

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Figure 3.5 L298N Circuit

Table of PINOUT of L298N Motor Driver IC

Pin Name Function
1, 15 Without A, Between this pin and the ground, a sense resistor
Without B is connected to control the current of the load.
2, 3 Output 1, Outputs of the Bridge A; the current that flows
Output 2 through the load connected between these two pins is
monitored at pin 1.
4 In S Supply Voltage for the Power Output Stages. A
noninductive 100nF capacitor must be connected
between this pin and ground.
5, 7 Input 1, TTL Compatible Inputs of the Bridge A.
Input 2
6, 11 Enable A, TTL Compatible Enable Input the L state disables
Enable B the bridge A (enable A) and/or the bridge B (enable
B).
8 GND Ground
9 VSS Supply Voltage for the Logic Blocks. (A100nF
capacitor must be connected between this pin and
ground.)
10, 12 Input 3, TTL Compatible Inputs of the Bridge B.
Input 4
13,1 Output Outputs of the Bridge B. The current that flows
4 3, Output 4 through the load connected between these two pins is
monitored at the pin.

[Link] L298N Schematic

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Figure 3.6 L298N schematic

Pins of IC L298N
- 4 pins INPUT IN1, IN2, IN3, IN4 are connected in turn to the pins 5, 7,
10, 12 of the L298. This is the control signal pins.
- 4 pins OUTPUT OUT1, OUT2, OUT3, OUT4 (corresponding to INPUT
pins) are connected to the pins 2, 3, 13, 14 of the L298. These pins are
connected to the engine.
- ENA and ENB legs used to control the H-bridge circuit in L298. If at
logic "1" (powered with 5V) then enables active H-bridge circuit, if at
logic "0", the H-bridge circuit is not working.
The L298N is a dual H-Bridge motor driver which allows speed and
direction control of two DC motors at the same time. The module can drive
DC motors that have voltages between 5 and 35V, with a peak current up to
2A.
Specifications
• Driver L298N
• Driver power supply +5V~+46V
• Driver Io 2A
• Logic power output Vss
• +5~+7V (internal supply +5V)
• Logic current 0~36mA
• Controlling level
- Low -0.3V~1.5V
- High 2.3V~Vss
• Enable signal level
- Low -0.3V~1.5V

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- High 2.3V~Vss
• Max power 25W (Temperature 75o C)
• Working temperature -25C~+130C
• Dimension 60mm*54mm
• Driver weight ~48g
3.1.3 Power supply
The robot is powered by a honeycomb source as the main electrical
power source for the motor.

Figure 3.7 Adapter 12.6V 2A battery charger

Adapter 12.6V 2A battery charger, drill battery is a power converter that
converts AC power into DC power for essential power supply for today's
technological devices.
Specifications
 Dimensions 87x50x31mm
 Model YH-12620
 Input voltage AC 100-240v 50/60Hz
 Output voltage DC 12.6V
 Output current 2A
 Plastic material
3.1.4 Encoder
[Link] Concept and type
An encoder, also known as a rotary encoder or shaft encoder, is an
electromechanical device that converts the angular position or movement of
the shaft or shaft into an analog or digital output signal. Encoder is used to
detect location, direction of movement, speed ... of the engine by counting the
number of revolutions of the shaft.
There are many different types of encoders but they basically fall into
two main sensing techniques. Those being
– Linear
– Rotary
Within those categories, there are differing encoder measurement types
such as
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– Absolute
– Incremental
There are also various electromechanical technologies such as
– Magnetic
– Optical
– Inductive
– Capacitive
– Laser
[Link] Structure
The main structural encoders include
The circular optical disc has a small free spin around the axis On the
perforated disk (groove), when this disk rotates and shines led lights on the
surface of the disc, an interruption occurs. The grooves on the disk divide the
360o circle into equal angles. And a disk can have multiple sequences of
grooves from the center of the circle.
 Photosensor
 Light source.
[Link] Operating principle
When the disk rotates around the axis, there are grooves on the disk for the
optical signal to shine through (Led). Where there is a groove, the light can
penetrate, where there is no groove the light cannot penetrate. With the yes/no
signals, it is noted whether the LED lights are shining through or not.
The number of Encoder pulses is conventionally the number of times light
shines through the slot. For example, on a disk with only 100 slots, for every 1
revolution, the encoder counts 100 signals. This is the principle of operation of
the basic encoder, but for many other types, of course, the spinning disk will
have more holes and the reception signal will also be different.

Figure 3.8 Encoder Working Principle

The light collector sensor will turn on and off continuously, thereby
 Generates square pulse signals.
 The pulse signal will be transmitted to the central processor to measure
and determine the position / speed of the motor.
[Link] Absolute encoder

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Figure 3.9 Absolute encoder

An absolute encoder is a type of encoder commonly used in automation
and motion control systems to provide position feedback. Unlike incremental
encoders that provide relative position information based on the number of
pulses received, absolute encoders provide an absolute position value for each
shaft revolution. This is achieved by using a unique code or sequence of pulses
for each position that is maintained even when power is shut off. Absolute
encoders come in various types such as binary, gray code, and serial encoders.
[Link] Incremental encoder

Figure 3.10 Incremental encoder

An incremental encoder is a device that converts linear or rotary motion
into a series of digital pulses. It is commonly used to track the position or
speed of rotating shafts, linear movements, or any other motion that needs to
be measured or monitored. The encoder consists of a rotating disc or strip that
has evenly spaced slots or marks on it. As the disc rotates, a light sensor or
magnetic sensor detects the changes in the slot or mark patterns, and sends out
a series of electrical pulses to a controller, which then interprets these pulses to
determine the position or speed of the motion. The advantage of the
incremental encoder is that it provides high accuracy, reliability, and
resolution, making it suitable for a wide range of industrial and automation
applications.

[Link] Differnce betweent Absolute and Incremental encoders

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- Absolute and incremental encoders are two types of encoders

commonly used in motion control systems. The main difference
between them lies in how they gather and output information about the
position of an object in motion.
- An absolute encoder measures the position of an object using a binary
code for each position on a disc or ring. This code is unique for each
position and is retained as long as the encoder remains in operation.
Therefore, if power is lost, the encoder can still provide the absolute
position of the object once power is restored. Absolute encoders are
suitable for applications where precision and accuracy are critical, such
as robotics, CNC machines, and medical equipment.
- In contrast, an incremental encoder generates pulses based on the
object's position changes. These pulses are then counted to determine
the object's position relative to its starting point. Incremental encoders
do not retain the absolute position information in case of power loss or
other interruptions. Therefore, a reference point needs to be established
every time the system is turned on. Incremental encoders are suitable
for applications that require speed and movement detection, such as
motor control, conveyor systems, and printers.
3.1.5 Encoder Integrated Geared Servo Motor

Figure 3.11 Encoder Integrated Geared Servo Motor

Specifications
• Power cord 12 - 24V White, Red
• Phase A Black wire
• Phase B Orange wire
• 5V VCC Encoder Gold wire
• Encoder GND Blue
• Shaft diameter 6mm
• Power supply 12 – 24V
• 120 RPM idle speed
• Encoder 400 pulses / rings
• Weight 180 g

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3.2 CIRCUIT EXPLANATION

3.2.1 The problem of controlling the speed of the DC motor using PID
equalization and encoder feedback
This system is almost like a sever
Reasons to choose PID
• Because it is a dc motor
• Because there is an encoder response
• Because it requires accuracy and stability in terms of speed
3.2.2 The single-pin configuration is INPUT_PULLUP
The Atmega chip on the Arduino has internal pull-up resistors (resistors
connected to the internal electrical system) that you can access. If you don't
like having an extra resistor in an external circuit, you can use the
INPUT_PULLUP parameter in battery Mode (). By default, when not
connected to an external circuit or connected to the anode, the battery will
receive a value of HIGH, when the battery is passed to the cathode to the
ground, it will receive a value of LOW.
3.2.3 Algorithm to the code
[Link] Algorithm to the code couting pulses

Code counting motor pulses

1. Run the program
2. Calculate the PID coefficient
3. assign the PID coefficient to the pulse function. The pulsating
function is limited to 0 – 255
4. Signal output to the motor, if dir = 1, then rotate forward, if dir = –
1, inverse if not, stop

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[Link] Algorithm to the code counting speed

Code counting motor speed

1. Initialize a variable
2. Calculation of the PID reading from the interrupt program
3. Compare output PID
–If PID<0 then PWM=0
–If 0<PID<255 then PWM = PID
–If PID>255 then PWM=255
4. Output the pulse to the engine and run
5. Read the response speed and repeat the loop

Short program

If Encode B =0 and Encode A =0 are encountered, pulse +1 . If it is the

opposite, then pulse – 1

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CONCLUSION

This project introduced a flexible rotatable robotic arm. A minimum

level of accuracy and probability of failure has been achieved. Evaluation of
the self-stop system in the correct position shows that its position can be
controlled. Obviously, with this design, more functions can be added to this
design to perform different functions with little or no human intervention.
Finally, the robot was made for remote control using the Actuator Module
L298N and encoder. This project will be useful in a factory environment for
industrial development.

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REFERENCE

Here are some websites you can refer to to find out information about
robotic arms
1. Robotics Online Website specializing in industrial robots, providing a
lot of information about robot arms https //www .[Link]/blog-
[Link]/The-Basics-of-Robotic-Arms/25
2. RobotShop A retail robot product website, providing a wide range of
information about robots, including robotic arms https
//[Link]/en/[Link]
3. RobotWorx Website that provides industrial robot arms and repair
support services for different types of robotic arms https
//[Link]/en/[Link] .[Link]/applications/robot-
arms
4. Robotiq Website of a company that manufactures robots and robotic
accessories, providing a lot of information about robotic arms https
//[Link]/topic/ robotic-arms
5. Universal Robots Website of a company that manufactures industrial
robotic arms, providing full information about its products as well as solutions
using robotic arms https //[Link]-robots .com/products/ur5-robots/

Hopefully these sites will help you find the information you need about
robotic arms.

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