AUTOMATIC WATER TANK CLEANER 1

CHAPTER 1
INTRODUCTION

The water tank is that part of the housing complex that we may hardly think of
inspecting. We do need to inspect it every now and then. If the tank is open or not closed off
completely, dust settles inside, dissolves in the water and adds to sediments. Animals always get
to where we don’t want them and the water tank is a special attraction for them as water is
essential to life and animals love life. Sometimes they get drowned in water including in the
water tank or they simply age and die there and then they rot and then bacteria feed on them and
fungi and algae all the littler creation invade. And all the time we are drinking and bathing from
the water supplied by the water tank.

If the tank is a ground tank and low enough and open enough and you have little children
around, you can be sure they must have dipped their dirty hands inside or chucked something
inside at some stage. If the tank is overhead and open, you can never be sure a lizard or bird did
not visit or even deposit something there. Perhaps even a bat passes by; God forbid Ebola again!

Forget the kids and animals, even the bad guy who loses an argument with you or just
doesn’t appreciate your good life can get back by spitting inside or leaving something worse
there for you thinking that serves you right. Nowadays, rich people build a dedicated tower for
just the water tank. It cannot be casually reached and it also stands aside by the house, too
conspicuous for mischief. Others place the tank somewhere in a dedicated enclosure on their
roof and only members of the household can generally access it. Then there is the underground
tank that not only needs security but also has to be well built so that it is not breached and
contaminated by ground matter.

Water tank can be a source of ailments for the household therefore you need to keep it
well and protect it. If you open the tank and it smells, you definitely need to clean it. Smell is
associated with death of plant and animal matter and putrefaction. The water from a smelly tank
carries death. Cleaning of that tank is an emergency matter.

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Until now, tank cleaning has typically involved laborers equipped with hoses, pressure
washers, shovels and squeegees. The task has been slow, labor-intensive, dirty and potentially
dangerous. Having people working inside a filthy tank is not only time-consuming, but it poses
an unnecessary risk. The economic needs for automatic tank cleaning are obvious.

We has answered this need with a system that is completely automatic, designed to
reduce cleaning time and manpower, and to minimize, or even eliminate, confined-space entry.
Within the industry’s more stringent environment, the ATC system improves safety, reduces the
number of personnel onboard, significantly reduces waste generation and minimizes downtime
during the cleaning process.

1.1 Background

Until now, tank cleaning has typically involved laborers equipped with hoses, pressure
washers, shovels and squeegees. The task has been slow, labor-intensive, dirty and potentially
dangerous. Having people working inside a filthy tank is not only time-consuming, but it poses
an unnecessary risk. The economic needs for automatic tank cleaning are obvious.

In today’s world the cleaning of tanks requests too much human efforts. And also it is
very difficult to clean cylindrical shaped tanks, here is a system which will clean the tank
automatically, this system will clean the tank when we turn on a switch. All these processes are
controlled by a microcontroller. The cleaning process is done by using a dc motor. This system
has a major role in today’s world. The system can be modified with several advancements such
as by connecting the system along with a sensor which will detect the amount of the mud
contained in the tank. As the level of the mud is increasing, the sensor will sense it and it will
clean automatically. Instead of using microcontroller, the system can be worked along with PLC.
These two advancements will have too much cost. So, to do this economically we are using
microcontroller along with the system

We has answered this need with a system that is completely automatic, designed to
reduce cleaning time and manpower, and to minimize, or even eliminate, confined-space entry.
Within the industry’s more stringent environment, the Automatic Water Tank Cleaning system

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AUTOMATIC WATER TANK CLEANER 3

improves safety, reduces the number of personnel onboard, significantly reduces waste
generation and minimizes downtime during the cleaning process.

1.2 Motivation
Human being can’t live without water. And in this world major diseases are coming
from water. The water tank is that part of the housing complex that we may hardly think of
inspecting. We do need to inspect it every now and then. If the tank is open or not closed off
completely, dust settles inside, dissolves in the water and adds to sediments. Animals always get
to where we don’t want them and the water tank is a special attraction for them as water is
essential to life and animals love life. Sometimes they get drowned in water including in the
water tank or they simply age and die there and then they rot and then bacteria feed on them and
fungi and algae all the littler creation invade. And all the time we are drinking and bathing from
the water supplied by the water tank.

1.3 Objectives

 Reducing human effort of cleaning.

 To implement new mode of cleaning
 Implementation of new cleaning equipment
 To implement a low cost and easy use machine
 Controlling of the system in done by microprocessor

1.4 Scope of the project

In this world water is an essential element. Without water we can’t live. When water is
coming from resource there is chance of coming unwanted dirt with water. Water is stored in
tank and because of sedimentation, these dirt are settled on the walls and bottom of the water
tank. These materials are very harmful to human being. By implementation of this project we can
remove the union to drain out. Removal of left over dirty sludge. Scrubbing dirt all-round the
water tank for cleaning of inner surface. Mainly removal of waste material like sphagnum moss

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collected after scrubbing. After all restore the water connection again. And it will taking the
signature of resident after the completion of this automatic water tank cleaner.

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AUTOMATIC WATER TANK CLEANER 5

1.5 Functional Requirements

1.5.1 PIC Microcontroller

PIC is a family of modified Harvard architecture microcontrollers made by Microchip

Technology, derived from the PIC1650originally developed by General Instrument's
Microelectronics Division. The name PIC initially referred to Peripheral Interface Controller.
The first parts of the family were available in 1976 by 2013 the company had shipped more than
twelve billion individual parts, used in a wide variety of embedded systems. The microcontroller
used in this project is PIC IC. PIC stands for Peripheral Interface controller given by microchip
technology to identify its single-chip microcontrollers. These devices have been very successful
in 8 bit microcontrollers.

1.5.2 Keypad

This keypad has 12 buttons, arranged in a telephone-line 3x4 grid. It's made of a thin,
flexible membrane material with an adhesive backing (just remove the paper) so you can attach it
to nearly anything. The keys are connected into a matrix, so you only need 7 microcontroller pins
(3-columns and 4-rows) to scan through the pad.

1.5.3 Power Supply

A power supply is an electronic device that supplies electric energy to an electrical load.
The primary function of a power supply is to convert one form of electrical energy to another
and, as a result, power supplies are sometimes referred to as electric power converters. Some
power supplies are discrete, stand-alone devices, whereas others are built into larger devices
along with their loads.

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1.5.4 Motor Driver

A motor driver is a little current amplifier; the function of motor drivers is to take a low-
current control signal and then turn it into a higher-current signal that can drive a motor.

1.5.4.1 Types of Motor Drivers

There are many different kinds of motor drivers. At Future Electronics we stock many of
the most common types categorized by maximum supply voltage, maximum output current, rated
power dissipation, load voltage, packaging type and number of outputs. The parametric filters on
our website can help refine your search results depending on the required specifications.

The most common values for maximum supply voltage are 36 V and 52 V. We also carry
motor drivers with supply voltage up to 450 V. The number of outputs can be between 1 and 12,
with the most common motor drivers having 1, 2 or 4 outputs.

1.5.5 Motor

An electric motor is an electrical machine that converts electrical energy into mechanical
energy. The reverse of this would be the conversion of mechanical energy into electrical energy
and is done by an electric generator.

In normal motoring mode, most electric motors operate through the interaction between
an electric motor's magnetic field and winding currents to generate force within the motor. In
certain applications, such as in the transportation industry with traction motors, electric motors
can operate in both motoring and generating or braking modes to also produce electrical energy
from mechanical energy.

1.5.6 Display Unit

For displaying the information like temperature and smoke values, LCD (16*2) is used
on each line this dot matrix LCD display module holds 32 characters-16 on each line and has a
green backlight with black text.

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1.5.7 Metal hose

A metal hose is a flexible metal line element. There are two basic types of metal hose that
differ in their design and application: strip wound hoses and corrugated hoses. Strip wound hoses
have a high mechanical strength. Corrugated hoses can withstand high pressure and provide
maximum leak tightness on account of their material. Corrugated hoses also exhibit corrosion
resistance and pressure tightness under the most extreme conditions, such as in aggressive
seawater or at extreme temperatures such as found in space or when transporting cooled liquid
gas.

1.5.8 Pump and Sprinkler

Pump is used to increase force of water flowing through pipes. This water is then given to
sprinkler and the sprinkler will rotate and the water will forcefully hit the wall of the tank. The
pump required for this system is 230 volt AC operated and 18 watt.

1.6 Non Functional Requirements

This project is implemented using following software’s

 Express PCB-for designing circuit.
 PIC C Compiler-for compilation part.
 Proteus7-for simulation part.

1.6.1 Express PCB

Express PCB is a software tool to design PCBs specifically for manufacture by the
company Express PCB. It is very easy to use, but it does have some several limitations

Express PCB comes with a less then exciting list of parts. So before any project is started
head over to audio logic and grab the additional parts by morsel, ppl and tangent, and extract
them into your Express PCB directory. At this point start the program and get ready to setup the
workspace to suit your style.

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1.6.2 Proteus:

Proteus is software which accepts only hex files. Once the machine code is converted into
hex code, that hex code has to be dumped into the microcontroller and this is done by the
Proteus. Proteus is a programmer which itself contains a microcontroller in it other than the one
which is to be programmed. This microcontroller has a program in it written in such a way that it
accepts the hex file from the pic compiler and dumps this hex file into the microcontroller which
is to be programmed. As the Proteus programmer requires power supply to be dumped into the
microcontroller is edited in Proteus and is compiled and executed to check any errors and hence
after the successful compilation of the program the program is dumped in to the microcontroller
using a dumper.

1.6.3 PIC Compiler:

PIC compiler is used where the machine language code is written and compiled. After
compilation, the machine source code is converted into hex code which is to be dumped into the
microcontroller for further processing. PIC compiler also supports C language code.

It’s important that you know C language for microcontroller which is commonly known
as Embedded C.As we are going to use PIC Compiler, hence we also call it PIC C. The PCB,
PCM, and PCH are separate compilers. PCB is for 12-bit op-codes, PCM is for 14-bit op-codes,
and PCH is for 16-bit op-code PIC microcontrollers.

1.7 Report Organization

In this world water tank cleaning is an important process, but no one have time or interest
in cleaning there water tank. For the proper cleaning of a water tank we have to use this
Automatic Water Tank Cleaner. Cleaning by hands will not be much accurate as this equipment.
This will be implemented in minimum price. This can be implemented for each tank as pre the
tanks specification. This equipment is fully controlled by microprocessor. There is running
brushes and water pumps in this equipment. These all are controlled by the microprocessor.

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CHAPTER 2

LITERATURE SURVEY

In this world water is an essential element. Without water we can’t live. When water is
coming from resource there is chance of coming unwanted dirt with water. Then this water is
stored in tank and because of sedimentation, these dirt are settled on the walls and bottom of the
water tank. These materials are very harmful to human being. By implementation of this project
we can remove the union to drain out. Removal of left over dirty sludge. Scrubbing all-round the
water tank for cleaning of inner surface. Mainly removal of waste material like sphagnum moss
collected after scrubbing. After all restore the water connection again. And it will taking the
signature of resident after the completion of this automatic water tank cleaner.

It is very difficult to clean cylindrical shaped tanks, here is a system which will clean the
tank automatically, and this system will clean the tank when we turn on a switch. All these
processes are controlled by a microcontroller. The cleaning process is done by using a dc motor.
This system has a major role in today’s world. The system can be modified with several
advancements such as by connecting the system along with a sensor which will detect the
amount of the mud contained in the tank. As the level of the mud is increasing, the sensor will
sense it and it will clean automatically. Instead of using microcontroller, the system can be
worked along with PLC. These two advancements will have too much cost. So, to do this
economically we are using microcontroller along with the system. For the designing of system,
we use three reference papers and they are

PAPER 1:

COMPARATIVE STUDY ON DC MOTOR SPEED CONTROL USING VARIOUS

CONTROLLERS

(Dr. Ch. Chengaiah, K. Venkateswarlu)

International Journal of Advanced Research in Electrical, Electronics and

Instrumentation Engineering

Vol. 3, Issue 1, January 2014

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PAPER 2:

DYNAMIC ANALYSIS OF OVERHEAD WATER TANK UNDER SHAFT STAGING

(Raghavendra. G, Keerthi Gowda B.S Gururaj M.H)

International Journal of Advanced Scientific and Technical Research

Issue 4 volume 3, May-June 2014

PAPER 3:

CONTROLLING DC MOTOR USING MICROCONTROLLER (PIC16F72) WITH PWM

(Shruti Shrivastava, Jageshwar Rawat, Amit Agrawal)

International Journal of Engineering Research

Volume No.1, Issue No.2, pp.: 45-47

2.1 PAPER 1:

COMPARATIVE STUDY ON DC MOTOR SPEED CONTROL USING VARIOUS

CONTROLLERS

(Dr.Ch.Chengaiah, K.Venkateswarlu)

International Journal of Advanced Research in Electrical, Electronics and

Instrumentation Engineering

Vol. 3, Issue 1, January 2014

Electrical machines like DC motors, brushless DC motors, permanent magnet DC motors

are being controlled with power electronics converters. The control has become precise with
invention of Micro Controller and power devices like IGBT, Power MOSFET. In this paper the
attempt is made to simulate a speed control of separately excited DC motor with PID and fuzzy
controller. The aim of this paper is providing efficient method to control speed of DC motor
using analog Controller. With the availability of MATLAB/SIMULINK, Fuzzy Controller for
comprehensive study of modeling analysis and speed control design methods has been
demonstrated.

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The field of electrical energy will be divided into three areas: Electronics, Power and
Control. Electronics basically deals with the study of semiconductor devices and circuits at lower
power. Power involves generation, transmission and distribution of electrical energy. The electric
motors are perhaps the most widely used energy converters in the modern machine tools and
robots. These motors require automatic control of their main parameters such as speed, position,
acceleration etc. In this paper to control the speed of DC motor, separately excited DC drive
system is used, since their simplicity, ease of applications such as reliability and favorable cost
have long been a backbone of industrial applications and it will have a long tradition of use as
adjustable speed machines and a wide range of options have evolved for this purpose. In these
applications, the motor should be precisely controlled to give the desired performance. Many
varieties of control schemes such as proportional, integral, derivative, proportional plus integral
(PI),proportional plus derivative(PD), proportional plus integral plus derivative(PID),Adaptive
control, and Fuzzy Logic controller, have been developed for speed control of dc motors. The
important aspect of the speed control of a dc motor is the armature voltage control method.

By varying voltage to the armature of a dc motor, the speed of the motor can be varied.
Here mainly concentrated on speed control of separately excited DC motor. the design of a
mathematical model of the separately excited DC motor using MATLAB code has been done
and SIMULINK model is used for studying the performance characteristics of dc motor and
mainly concentrated on the design of PID controller and Fuzzy logic controller using MATLAB/
SIMULINK environment.Speed response characteristics of separately excited dc motor were
obtained by mathematical model using MATLAB coding and SIMULINK model. The response
is found to be not satisfactory i.e. response doesn’t satisfy the desired design requirements like
rise time, settling time, peak value, steady state error and dead time etc. There exists a dead time
of 1 sec which is a major drawback to the system by conventional method.

To overcome the above drawback we employed PID controller design, by proper tuning
of, and to improve the characteristics like steady state error. But the above designed system
failed to reduce the dead time of the system. Hence in order to reduce the dead time modern
technique like FUZZY controller was employed. FUZZY controller is proposed to replace
conventional PID controller to improve the system characteristics. The corresponding step
response is very smooth and ripples free.

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2.2 PAPER 2:

CONTROLLING DC MOTOR USING MICROCONTROLLER (PIC16F72) WITH PWM

(Shruti Shrivastava, Jageshwar Rawat, Amit Agrawal)

International Journal of Engineering Research

Volume No.1, Issue No.2, pp.: 45-47.

Motion control plays a vital role in industrial atomization. Different types of motors AC,
DC, SERVO or stepper are used depending upon the application; of these DC motors are widely
used because of easier controlling. Among the different control methods for DC motor armature
voltage control method using pulse width modulation (PWM) is best one. We can realize the
PWM using H-bridge built with IGBT switches or transistors. To generate PWM signals we use
PIC16F72 microcontroller.

Direct current (DC) motor has already become an important drive configuration for many
applications across a wide range of powers and speeds. The ease of control and excellent
performance of the DC motors will ensure that the number of applications using them will
continue grow for the foreseeable future. This project is mainly concerned on DC motor speed
control system by using microcontroller PIC 16F72. It is a closed-loop real time control system,
where optical encoder (built in this project) is coupled to the motor shaft to provide the feedback
speed signal to controller. Pulse Width Modulation (PWM) technique is used where its signal is
generated in microcontroller. The PWM signal will send to motor driver to vary the voltage
supply to motor to maintain a constant speed.

With the very basic concept of PWM and H-bridge the direction and the speed of the
motor can be controlled. It is practical one and highly feasible according to economic point of
view, reliability and accuracy. It is programmable one therefore it can control various motors.

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2.3 PAPER 3:

COST EFFECTIVE AND EFFICIENT INDUSTRIAL TANK CLEANING PROCESS

(Vishwesh Vasadi, Vikas Darasanapalli, Vishal Deodikar, Rupali Kad )

International Journal of Research in Engineering and Technology

Volume: 03 Issue: 03 | Mar-2014

The tank cleaning process is one of the major requirements in many industries such as in
Pharmaceutical Industries, Fast Moving Consumer Goods Companies (FMCG) and in Paint
Industries. The tank cleaning in many small scale industries is still manual and lengthy process.
In industries sometimes these tanks are placed in an area where humans cannot go and work, so
to avoid this problem we thought of fully automated process of tank cleaning for that we have
chosen.
Programmable Logic Controller (PLC).The PLC is the heart of the system Proposed
system provides cost effective and efficient alternate solution to existing system. This system
reduces the bulkiness and it is easy to understand (user friendly).It does not require difficult or
complex algorithm and coding is also not lengthy. This system stores the water used for the
process of tank cleaning instead of throwing away. From conductivity sensor we will come to
know the cleanliness of the tank so the ultimate results obtained are reliable and accurate.
As per our survey in many Industries, we came to know that in small scale industries
automated tank cleaning process is not used. Still they are using conventional method. In this
conventional method, man power is used; therefore the reliability of the result (that is cleaning of
tank) will depend upon the skills of the individual. To provide a better solution to these small
scale Industries we have designed an efficient and cost effective tank cleaning system which can
be easily interfaced with the PLC.
PLC is the main component of our system. Through our proposed system we have
designed a system that would give results same as the systems used in large scale industries with
optimum cost. Cost optimization is achieved through simple and self-made sensors, but for the

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lower cost reliability is not compromised. All sensors works on basic principles which gives
accurate results.
Except some of the advanced Industries, many Industries still use the conventional
method of tank cleaning as shown in figure below. In this method, man power is used; therefore
the reliability of the result (that is cleaning of tank) will depend upon the skills of the individual.
Therefore we have developed an advantageous way which is completely automated and much
more reliable.

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Chapter 3

PROPOSED SYSTEM

3.1Problem statement
It is very difficult to clean cylindrical shaped tanks, here is a system which will clean the
tank automatically, and this system will clean the tank when we turn on a switch. All these
processes are controlled by a microcontroller. The cleaning process is done by using a dc motor.
This system has a major role in today’s world. The system can be modified with several
advancements such as by connecting the system along with a sensor which will detect the
amount of the mud contained in the tank. As the level of the mud is increasing, the sensor will
sense it and it will clean automatically. Instead of using microcontroller, the system can be
worked along with PLC. These two advancements will have too much cost. So, to do this
economically we are using microcontroller along with the system.
In this world water is an essential element. Without water we can’t live. When water is
coming from resource there is chance of coming unwanted dirt with water. Then this water is
stored in tank and because of sedimentation, these dirt are settled on the walls and bottom of the
water tank. These materials are very harmful to human being. By implementation of this project
we can remove the union to drain out. Removal of left over dirty sludge. Scrubbing all-round the
water tank for cleaning of inner surface. Mainly removal of waste material like sphagnum moss
collected after scrubbing. After all restore the water connection again. And it will taking the
signature of resident after the completion of this automatic water tank cleaner.

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AUTOMATIC WATER TANK CLEANER 16

3.2 Block Diagram

KEYPAD POWER
SUPPLY

MICROCONTROLLER

DISPLAY UNIT MOTOR

DRIVER

MOTOR 1 MOTOR 2

Fig 3.1 Block Diagram

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3.2 Block Diagram Description

3.3.1 Microcontroller (PIC16F72A)

A microcontroller (sometimes abbreviated µC, uC or MCU) is a small computer on a

single integrated circuit containing a processor core, memory, and programmable input/output
peripherals. Program memory in the form of NOR flash or OTP ROM is also often included on
chip, as well as a typically small amount of RAM. Microcontrollers are designed for embedded
applications. Microcontrollers are used in automatically controlled products and devices, such as
automobile engine control systems, implantable medical devices, remote controls, office
machines, appliances, power tools, and other systems. Microcontroller used here is PIC16F72.
The program memory contains 2K words, which translate 2048 instructions, since each 14-bit
program memory word is the same width as each device instruction. The data memory (RAM)
contains 128 bytes. It has high performance RISC CPU with only 35 single word instructions to
learn. All single cycle instructions except for program branches, which are two-cycle.
The Operating speed is DC - 20 MHz clock input DC 200 ns, 128 x 8 bytes of Data
Memory (RAM).Interrupt capability Eight-level deep hardware stack Direct, Indirect and
Relative Addressing modes. It has High Sink/Source Current: 25 mA Timer0: 8-bit timer/counter
with 8-bit presale Timer1:16-bit timer/counter with presale, can be incremented during SLEEP
via external Crystal/clock Timer2: 8-bit timer/counter with 8-bit period register, presale and
postscaler Capture, Compare, PWM (CCP) module Capture is 16-bit, max.resolution is 12.5 ns -
Compare is 16 bit, max. resolution is 200 ns PWM max. resolution is 10-bit 8bit, 5-channel
analog-to-digital converter Synchronous Serial Port (SSP) with SPI™ (Master/Slave) and I2C™
(Slave) Brown-out detection circuitry for Brown-out Reset (BOR)

Special Microcontroller Features:

 1,000 erase/write cycle FLASH program memory typical Power-on Reset (POR),
Power-up Timer (PWRT) and Oscillator Start-up Timer (OST)
 Watchdog Timer (WDT) with its own on-chip RC oscillator for reliable operation
 Programmable code protection Power saving SLEEP mode Selectable oscillator options
 Processor read access to program memory

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3.3.2 Architecture of PIC16F72

Fig 3.2 Architecture of PIC16F72

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3.3.3 Pin-out of PIC16F77

Figure 3.3 Pin-out of PIC16F77

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3.4 Dc Motor Control

A DC motor is an electric motor that runs on direct current (DC) electricity. DC motors
were used to run machinery, often eliminating the need for a local steam engine or internal
combustion engine. DC motors can operate directly from rechargeable batteries, providing the
motive power for the first electric vehicles.
Today DC motors are still found in applications as small as toys and disk drives, or in
large sizes to operate steel rolling mills and paper machines. Modern DC motors are nearly
always operated in conjunction with power electronic devices. It works on the principle of
electromagnetism. A current carrying conductor when placed in an external magnetic field will
experience a force proportional to the current in the conductor. DC motor speed controllers are
very useful for controlling the motion of robotic and industrial automation systems. DC motor
can provide a high starting torque and it is also possible to obtain speed control over wide range.
For precise speed control of servo system, closed-loop control is normally used.
The speed, which is sensed by sensing devices, is compared with the reference speed to
generate the error signal and to vary the armature voltage of the motor. There are several
controllers that can used to control the speed of the motor such as by using thermistor, phase-
locked-loop control, chopper circuit, Fuzzy Logic Controller and etc. Here, we will use PWM
technique.

3.4.1 Direction Control of Dc Motor

There are two magnetic fields produced in the motor. One magnetic field is produced by
the permanent magnets and the other magnetic field is produced by the electrical current flowing
in the motor windings. These two fields result in a torque which tends to rotate the rotor. As the
rotor turns, the current in the windings is commutated to produce a continuous
Torque output this makes the motor to run. Direction control of a DC motor is very simple; just
reverse the polarity, means every DC motor has two terminals out. When we apply DC voltage
with proper current to a motor, it rotates in a particular direction but when we reverse the
connection of voltage between two terminals, motor rotates in another direction.

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3.4.2 Working Theory Of H- Bridge

An H bridge is an electronic circuit that enables a voltage to be applied across a load in

either direction. These circuits are often used in robotics and other applications to allow DC
motors to run forwards and backwards.

Figure 3.4 Working Theory Of H- Bridge. A

An H bridge is built with four switches (solid-state or mechanical). When the switches S1
and S4 (according to the first figure) are closed (and S2 and S3 are open) a positive voltage will
be applied across the motor. By opening S1 and S4 switches and closing S2 and S3 switches, this
voltage is reversed, allowing reverse operation of the motor.

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Figure 3.5 Working Theory Of H- Bridge. A

3.4.3 Table for working of H-bridge

Table 3.1 Table for working of H-bridge

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3.5 Controlling DC Motor With PWM

PWM is an effective method for adjusting the amount of power delivered to the load.
PWM technique allows smooth speed variation without reducing the starting torque and
eliminates harmonics. In PWM method, operating power to the motors is turned on and off to
modulate the current to the motor. The ratio of on to off time is called as duty cycle.
The duty cycle determines the speed of the motor. The desired speed can be obtained by
changing the duty cycle. The Pulse-Width Modulation (PWM) in microcontroller is used to
control duty cycle of DC motor drive. PWM is an entirely different approach to controlling the
speed of a DC motor. Power is supplied to the motor in square wave of constant voltage but
varying pulse-width or duty cycle.
Duty cycle refers to the percentage of one cycle during which duty cycle of a continuous
train of pulses. Since the frequency is held constant while the on-off time is varied, the duty
cycle of PWM is determined by the pulse width. Thus the power increases duty cycle in PWM.

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Chapter 4

CONCLUSIONS

In this project, “Automatic Water Tank cleaner” we avoid the problems with difficulties
in manual cleaning and provide highly efficient and accurate performance. We have taken three
reference papers which gave us different perspectives about the problem and also three different
ways to solve the problem.

We have analyzed those methods and devised our own method which is comprehensive
and rectifies some of the shortcoming of the three approaches. Our method includes mainly the
motor, microprocessor and a control unit. By using this equipment the manual cleaning
difficulties can be avoided.
The advantages of our system are 100% reduced manpower and reduced cost. It increases
the speed of the process up to 30%.As it gives required output, the system efficiency is more
than 95%. This system can be implemented in small scale industries like vaccine and medicines
manufacturing.

ROYAL COLLEGE OF ENGINEERING & TECHNOLOGY AE&I DEPARTMENT

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REFERENCE

[1] Dr. Jamal A. Mohammed, “Modeling, Analysis and Speed Control Design Methods of a
DC Motor”,Eng. & Tech.Journal ,vol .29, no.1,2011

[2] I.J.Nagrath and M.Gopal, Control Systems Engineering, (Wiley Eastern Limited).

[3] W. P. Aung, “Analysis on Modeling and Simulink of DC Motor and its Driving System Used
for Wheeled Mobile Robot'', World Academy of Science, Engineering and Technology 32,
2007, pp.299- 306.

[4] A. S. Othman, “Proportional Integral and Derivative Control of Brushless DC Motor,”

European Journal of Scientific Research, Vol. 35 No. 2 (2009), pp. 198-203.

[5] B. Allaoua, B. Gasbaoui and B. Mebarki, “Setting Up PID DC Motor Speed Control
Alteration Parameters Using Particle Swarm Optimization Strategy”, Leonardo Electronic
Journal of Practices and Technologies, Issue 14, Jan.-June 2009, pp. 19-32.

[6] Todd D Morton, Embedded microelectronics, (Prentice Hall Inc. New Delhi India), 2001.

[7] How to optimize clean-in-place processes in food and beverage operations.-by Benjamin jude
and eric lemaire

[8] Ettomi, Y.S. Dept. of Electr. & Electron. Eng., Putra Malaysia Univ., Malaysia Moor, S.B.M.
; Bashi, S.M. ; Hassan, M.K.; ”Micro controller based adjustable closed-loop dc motor speed
controller”; In the Proceedings of Student Conference In the Proceedings of Student Conference
on Research and Development, 2003; 25-26 Aug. 2003.pp 59 – 63 [9] PIC
Microcontrollers ,Milan Verle ,mikroelektronika; 1st edition (2008)

[10] Maizidi Ali, Mekinly Rolin D & Carsey Denny, “Microcontroller & Embedded System”,
Pearson Education, 2nd Edition.

[11] Mazidi Jarice & Maizidi Gillirp, “Advanced Microcontroller Application”,Pearson

Education, 2nd Edition.

[12] http://www.parallax.com

[13]1000projects.org/8085-microprocessor-seminar-report-for-ecestudents.html

ROYAL COLLEGE OF ENGINEERING & TECHNOLOGY AE&I DEPARTMENT

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[14]PIC16F72 datasheet www.microchip.com/downloads/en/devicedoc/39597c.pdf

[15] www.electronics4u.com

ROYAL COLLEGE OF ENGINEERING & TECHNOLOGY AE&I DEPARTMENT