My Experience with Length Control for a DC Actuator | HackerNoon

It was necessary to complete the project code urgently, but it would not be possible to control the actuators without encoders. For the project, you need to know the rod extension length, and for this, you need to know the number of engine rotations. So we decided to spend one day and make our encoder for actuators. At first, we thought to put a multi-turn potentiometer.Then we wanted to use an encoder likebut such encoders have a very small resource of work.

And knowing the sequence of turning on and off the sensors, we can determine the direction of rotation.No place was there, and magnets could not be glued because everything was oily with grease. Then we decided to throw away the original cap of the actuator, which will have a built-in gear with magnets and two hall sensors. The gear will be driven, and we will place the gear on a separate axis. And the gear will spin without load from the drive gear of the engine.

All that’s left is to write the code to calculate the length of the rod extension. For the test, we took the Arduino MEGA 2560 board; there are six pins with hardware interrupts. You can make the code without interruptions, but if at least one pulse is skipped, the error will be 1.6mm, and this is already a lot for our task. Tests have shown that without interruptions, the error can accumulate to large values with active use. Therefore, we use two interrupt pins for each actuator.

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