Overboard Expansion Board for actuation on Wireless Sensor Networks Electronics Engineering

163 Pages·2012·26.61 MB·English

Overboard
Expansion Board for actuation on Wireless Sensor
Networks
Se´rgio Miguel Rodrigues Teixeira
Dissertation submitted to obtain the Master Degree in
Electronics Engineering
Jury
Chairman: Professor Doutor Carlos Alberto Ferreira Fernandes
Supervisor: Professor Doutor Rui Manuel Rodrigues Rocha
Co-Supervisor: Professor Doutor Moise´s Simo˜es Piedade
Member: Professor Doutor Francisco Andre´ Correˆa Alegria
June of 2012
Abstract
WirelessSensorNetworks(WSN)arewidelyemployednowadaysinavarietyofareas,likeenviron-
ment, agriculture, buildings monitoring, among others. These are constituted by several nodes, being
the amount of nodes dependent on the application. Each node is usually composed by a processing
unit, sensors, a communication device and a power source. These networks, however, are limited to
sensing tasks. In order to overcome this obstacle it is necessary to equip the nodes that constitute the
network with actuation abilities. This inclusion permits these networks to accomplish distributed sens-
ing and actuation tasks, Wireless Sensor and Actuator Networks (WSAN), using the sensors to gather
information from the physical world and using it to instruct the actuators in making specific tasks. The
useofactuatorscannotbeseenasaminormodificationtotheWSN.Fromthecommunicationprotocol
viewpoint, the inclusion of actuator’s demands bidirectional communication and it is usually necessary
toaddressseveralnodessimultaneouslytoallowmorecomplexactions. Therequirementsofbothnet-
works can also vary, in WSN the main concerns usually are power consumption, latency and network
lifetime, while in WSAN, since these have the ability to interact with the physical world, other concerns
havetobetakenintoconsiderationusually,real-timeactionsandcommunicationreliability.
The purpose of this work is the integration of actuation functionalities in WSN. In order to achieve
thisgoal,thenodes,whichconstitutethebasicelementofWSN,willbeequippedwithadaughterboard
capable of actuation operations, named Overboard. The Overboard is compatible with the MoteIST,
MicaZ and Iris motes. The actuation functionalities available are the result of an analysis on the most
common types of actuators used in WSAN, being these electric motors, solenoids and relays. The
Overboard is also capable of interacting through automation protocols, with the purpose of control the
devices connected through them, the protocols compatible are the X10, KNX and CAN Bus protocols.
The Overboard is supplied by the node attached to it. In order to test the Overboard functionalities, a
testmodeisavailable,whichallowsthecontroloftheboardthroughaconsole.
Keywords: WirelessSensorNetworks,WirelessSensorandActuatorNetworks,Actuator’scontrol,
AutomationProtocol’scontrol,Overboard,MoteIST.
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ii
Resumo
Autilizac¸a˜oderedesdesensoressemfios(RSSF)emaplicac¸o˜esdemonitorizac¸a˜oe´ actualmente
umaa´reaemcrescimento. Estassa˜outilizadasnamonitorizac¸a˜oambiental,naagricultura,nascidades,
nas fa´bricas, entre outras a´reas. As RSSF sa˜o constitu´ıdas por no´s, sendo o nu´mero de no´s utilizado
determinadopelaaplicac¸a˜o. Cadano´ e´ normalmenteconstitu´ıdoporumaunidadedeprocessamento,
umouva´riossensores,umtransceptorparacomunicareumabateria.
Apesardapopularidade,asRSSFesta˜olimitadasaactividadesdemonitorizac¸a˜o. Contudo,atrave´sda
integrac¸a˜o de mecanismos de actuac¸a˜o, e´ poss´ıvel realizar operac¸o˜es de monitorizac¸a˜o e actuac¸a˜o,
este tipo de redes sa˜o intituladas de Redes de Sensores e Actuadores Sem Fios(RSASF), utilizando
os sensores para obter informac¸o˜es e, atrave´s destas, utilizar os actuadores para realizar tarefas pre´
determinadas. Ainclusa˜odeactuadoresexigealterac¸o˜esnacomunicac¸a˜oentreno´s,poisparacontrolar
os actuadores e recolher informac¸a˜o dos sensores e´ necessa´rio comunicac¸a˜o bilateral, caracter´ıstica
quena˜oe´ comumnasRSSF,e,paraoperac¸o˜esmaiscomplexase´ necessa´riotambe´macomunicac¸a˜o
com va´rios no´s simultaneamente, com o intuito de coordenar a actuac¸a˜o entre os no´s. Devido a´s
diferenc¸asentreosdoistiposderedes,estasteˆmnormalmenterequisitosdiferentes. Enquantoqueas
RSSFteˆmcomoprincipaisprioridadesoconsumodeenergiaalateˆnciaeaautonomia,asRSASFteˆm
comoprioridadesacapacidadeparaactuaremtemporealeafiabilidadedascomunicac¸o˜es.
O objectivo deste trabalho e´ a integrac¸a˜o de funcionalidades de actuac¸a˜o em RSSF. Para realizar
este objectivo, os no´s da rede em questa˜o sera˜o equipados com uma PCB, denominada Overboard,
capaz de realizar operac¸o˜es de actuac¸a˜o. A Overboard e´ compat´ıvel com os motes, MicaZ, MoteIST
e Iris. Atrave´s de va´rios estudos relacionados com as RSASF foram identificados os actuadores mais
uteis,eocontrolodestesintegradonaOverboard,estessa˜oosmotoresele´ctricos,solenoideserele´s.
A Overboard tambe´m e´ capaz de interagir com protocolos de automac¸a˜o, permitingo o controlo dos
aparelhosligadosaestes,nomeadamenteosprotocolosX10,KNXeCANBus. Aenergiautilizadapela
Overboarde´ retiradadono´ emqueestaesta´ fixada. Comoobjectivodetestartodasasfuncionalidades
desta,ummododetestefoiimplementado,permitindoocontrolodestaatrave´sdeumaconsola.
Palavras-chave: Redes de Sensores, Redes de sensores e actuadores, Controlo de actuadores,
Protocolosdeautomac¸a˜o,Overboard,MoteIST.
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Contents
Abstract i
Resumo iii
ListofTables vii
ListofFigures x
Acronyms xii
1 Introduction 1
1.1 Goals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2 DocumentOrganization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2 StateoftheArt 3
2.1 CharacterizationoftheActuators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.2 DriversandControllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2.1 ElectricMotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.2.2 PowerLineActuation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.3 IndirectActuation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.3.1 X10Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.3.2 CANBus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.3.3 KNXProtocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3 SystemRequirementsandArchitecture 21
3.1 Actuator’sControl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.2 AutomationProtocolsInterface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.3 RFCommunication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.4 MainHiroseconnector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3.5 RFconnector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.6 MCUInterface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4 OverboardDesign 35
4.1 HardwareDesign . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.1.1 RS-232Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.1.2 CANInterface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.1.3 DirectActuationInterface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.1.4 Microcontroller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
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4.1.5 OverboardFunctionalDiagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.1.6 PowerBoardDesign . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.2 SoftwareDesign . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.2.1 DevelopmentTools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.2.2 ProprietaryProtocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.2.3 Overboard’sApplication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4.2.4 MoteIST-OverboardApplication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
4.2.5 CANBusBoardTestApplication . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
5 PrototypesandResults 55
5.1 DevelopmentTools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
5.2 Prototypes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
5.3 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
6 Conclusions 63
7 Annexes 65
7.1 BillofMaterials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Appendix 66
A Overboard’sBillofMaterials 67
B Overboard’sSchematics 71
C PICKIT3Pinout 75
D ServomotorsInterface 77
E PhysicalExternalInterfacetypes 79
F OverboardUserManual 81
Bibliography 147
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List of Tables
2.1 Actuator’scharacterizationtable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2 Commondrivemodesforbrushlessmotors . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.1 ACpowerline,mainswitchingdevicesfeatures . . . . . . . . . . . . . . . . . . . . . . . . 23
3.2 KNXdevicesavailableinbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.3 CC1101mainfeatures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.4 Characteristicsfordifferentantennasolutions . . . . . . . . . . . . . . . . . . . . . . . . . 29
3.5 Communicationprotocolsavailableinthehiroseconnector . . . . . . . . . . . . . . . . . 30
3.6 RFBoardconnector,pinfunctionalities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.1 MarketanalysisofControllerareanetwork (CAN)transceivers . . . . . . . . . . . . . . . 36
4.2 MarketanalysisofBipolarDrivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.3 H-bridgelogic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.4 H-bridgelogic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.5 MCUfamiliesanalysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.6 MCUfamiliesanalysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.7 Overboard,communicationcharacteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.8 CommonAppliances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.9 Solid-StateRelay (SSR)analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
4.10 Optotriacanalysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
4.11 Triacanalysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.12 Actioncommandconstitution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
4.13 Designatedmoduleconstitution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
4.14 Protocol’sinformationrequirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
5.1 OverboardelectromechanicalCharacteristics . . . . . . . . . . . . . . . . . . . . . . . . . 59
5.2 TestsDescription . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
5.3 Overboardpowerconsumptiontests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
5.4 H-bridges,drivecapacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
A.1 Overboard’sBillofMaterials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
E.1 PEItypesandencoding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
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List of Figures
2.1 H-bridgesControlMethods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.2 BipolarandUnipolarDrivers,respectively . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.3 Steppermotors-(a)tobedrivenbyabipolar,(b)tobedrivenbyaunipolar . . . . . . . . 8
2.4 Microsteppingtimmingdiagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.5 Servomotorrotationanglecontrol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.6 Triaccharacteristiccurveandsymbol. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.7 Triac,controldiagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.8 Triac,phasecontrolmethod . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.9 Triac,integralcontrolmethod . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.10 ElectromechanicalRelay. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.11 Solid-StateRelayusingarelaytocontroltriac . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.12 Solid-StateRelayusingaLEDtocontrolaphototriac . . . . . . . . . . . . . . . . . . . . 13
2.13 Inductiveloads,protectingmeasures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.14 Inductiveloads,protectingmeasures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.15 X10signaltransmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.16 X10protocol,RFprotocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.17 CANBusnetwork . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.18 CANBusprotocol,Dataratevsbuslength. . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.19 KNXBusandmainnetworks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.1 Overboard,blockdiagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.2 CM11,X10device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.3 RS-232communication,blockdiagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.4 TM13RFtransceiverfromMarmitek . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.5 WiringDiagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.6 KNXsamplenetworkwithseveraldevices . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.7 CANBusInterface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.8 51pin,Hiroseconnectordiagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.9 RFBoardconnector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.1 Overboard,functionaldiagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.2 PowerBoard,functionaldiagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.3 MSP430ProgrammingInterface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.4 Overboardprotocolmessageconstitution . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.5 Overboard’sapplication,blockdiagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4.6 SystemInitializationfunction,code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.7 MainClockconfiguration,code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
ix