To ensure the most energy efficient, stable, highest quality AEV possible, Division E at Grey Company has utilized the two approved designs from the Preliminary R&D in a Performance Test. The test consists of a run on the track that starts from the initial position, goes to and stops at a gate for 7-8 seconds, and makes it down the rest of the track.
Both designs were programmed with similar codes then ran down the track to analyze the energy consumption. Design D proved to be more practical than Design C, mainly because the weight of Design C was greater, therefore the motors used more power to accomplish the same task as Design D. Because both designs were otherwise equally reliable in maintenance, stability, etc, energy consumption was the primary focus in deciding which design would move forward as our final design.
Figure 1: Design C
Figure 2: Design D
Figure 3: Design C Data
For Design C, the average amount of power when used was approximately 14 W. The total energy consumption for the run was 74.5 J.
Figure 4: Design D Data
For Design C, the average amount of power when used was approximately 12 W. The total energy consumption for the run was 63 J.
As a result of Design D using less energy than Design C, Design D was carried on as the final design. As explained in Screening and Scoring, both designs were similar in scoring, so more tests were needed to allow the results to be more conclusive. This test was able to conclude Design D was superior, and that it would be used for the future/final tests and runs.
Program used for the first performance test that goes to the gate, pauses, and continues through the gate.
| reverse(4); | // reverse motors because of backward configuration |
| rotateServo(20); | // deactivate brake |
| motorSpeed(4,50); goFor(3); |
// Start the motors and run them until we are close to the gate |
| goToAbsolutePosition(240); brake(4); |
// coast, then stop at the gate: |
| rotateServo(0);
|
// rotate servo for brake |
| goFor(8);
|
// Wait for gate to open |
| rotateServo(20);
|
// unapply brake |
| motorSpeed(4,50);
goFor(2);
|
// Start the motors and get close to the caboose |
| goToRelativePosition(270);
|
// coast, then stop at the caboose |
| rotateServo(0); goFor(1); rotateServo(20); |
// rotate servo for brake |