DESIGN OF SEMI-AUTOMATED

SOLAR POWERED SEED SOWING

MACHINE
 CHAPTER ONE

1.1 INTRODUCTION

Cropping is important and tedious activity for any farmer, and for large scale this activity is so
lengthy also it needs more workers. Thus, agriculture machines were developed to simplify the
human efforts. In manual method of seed planting, we get results such as low seed placement,
less spacing efficiencies and serious back ache for the farmer. This also limited the size of field
that can be planted. Hence for achieving best performance from a seed planter, the above limits
should be optimized. Thus, we need to make proper design of the agriculture machine and also
selection of the components is also required on the machine to suit the needs of crops.
Agriculture is the backbone of the Ethiopian economy and it will continue to remain so for a
long time. The introduction of technology to agriculture will result in reduction of manpower and
corresponding increase in productivity. At present many countries have shortage of skilled
labour in agriculture sector, which affects the growth rate of the developing countries including
Ethiopia which hugely depends on agriculture sector. As the population of is rising, demand of
food is also escalating which leads to higher crop production per hectare. Ethiopia So, to fix
these problems farmers should use latest technological advancements for the various agricultural
practices like digging, sowing, irrigation etc., which are more efficient and less time consuming.
The basic objective of seed sowing operation is to put the seed and fertilizer in rows at desired
depth and spacing, cover the seeds with soil and provide proper compaction over the seed. The
recommended row to row spacing, seed rate, seed to seed spacing and depth of seed placing vary
from crop to crop and for different agricultural and climatic conditions. In order to achieve
optimum yields and an efficient sowing machine, there should be an attempt to fulfill above
requirements. In addition to that, effect of saving in cost of operation time, labor and energy are
other advantages to be derived from use of improved machinery for such operations.
For a long time, it has been thought that atomic energy would be a solution for the growing
energy problem, but in recent times solar energy has proved to be an efficient, more secure and
safe way of providing energy. Concepts related to the solar energy have constantly been under
heavy research and development. The basic objective of using solar energy is to optimize the
energy produced from photovoltaic cells, by making the overall systems be more efficient and
cost effective. Most solar panels are statistically aligned; they have a fixed position at a certain
angle towards the sky. Therefore, the time and intensity of direct sunlight falling upon the solar
panel is greatly reduced, resulting in low power output from the photovoltaic (PV) cells.
In traditional methods seed sowing is done by broadcasting manually, opening furrows by a
plough and dropping seeds by hand. A traditional method of seed sowing has many
disadvantages. This project is about the different types of methods of seed sowing and fertilizer
settlement in the soil and developing a multifunctional seed sowing machine which can perform
simultaneous operations.
Automatic solar powered Seed sowing machine is a device which helps in the sowing of seeds in
a desired position, hence assisting the farmers in saving time and money. This project discusses
different aspects of automatic solar powered seed sowing machine which will be helpful for the
agriculture industry to move towards mechanization. Mechanization of the agricultural industry
in Ethiopia is still in a stage of infancy due to the lack of knowledge and the unavailability of
advanced tools and machinery.

1.2. STATMENT PROBLEMS

The main problem is that its time consuming, low crop quality and tiring in traditional seed
sowing. For the lot of land that going to be covered it requires high demand of labor and
undisturbed precision of seed sowing space. Therefore, farmers have to use upgraded technology
for cultivation activity (digging, seed sowing, fertilizing, spraying etc.). So, it’s a time to
mechanized the sector to overcome this problem which in turn will also eliminate the
requirement of labors and also avoid the wastage of seeds.

1.3. OBJECTIVES
1.3.1 GENERAL OBJECTIVES
To design semi-automated solar powered seed sowing machine that easily interfaced with
humans.

1.3.2. SPECIFIC OBJECTIVES

The specific operation of the seed sowing machine is as follows:

 Design the mechanical components by using solid works software.

 Mathematical design of the components.
  Calculate seed spacing.
 Design electrical system by using proteus.
 Showing simulation results.

1.4. SCOPE OF THE STUDY

It helps in the sowing of seeds and covering it in the desired position hence assisting the farmers
in saving time and energy. So, considering these points related to seed sowing, an attempt is
made to design such equipment which will able to perform the operations more efficiently and
also will result in low cost.
To achieve the objectives of this project, different methods and tools are utilized. This includes;

 calculation of electrical and mechanical components.

 Simulation by proteus.
 Stress analysis

 Mechanical design using Solid works software.

1.5 SIGNIFICANCE OF THE STUDY

Today’s era is marching towards the rapid growth of all sectors including the agricultural sector.
To meet the future food demands, the farmers have to implement the new techniques which will
not affect the soil texture but will increase the overall crop production. In this project, an attempt
has been made for the “Design of automatic solar powered seed sprayer machine”. In this
technique seeds in a hopper get sprayed by means of fan or blower directly to land without
human effort. By this process the seed is feed to land at the time of plough. The main benefit of
using this method is to reduce the time of seed to the land and reduced human effort.
Usually, the manpower is needed for sowing a seed, by using this machine there is no need for
human power. This system does not require any additional power source to run the fan, because
here solar panel is employed as a power source. And another significance of the project is as
follows:

 Optimum crop yield is achieved

 Seed can be placed in row uniformly with required distance between plants and depth
 Maintenance cost is less
 Less labor required
  Properly covered seed with soil
 Sowing efficiency increased
 Seed rate can be controlled.
 Many seeds can be sown by this machine.
 Due to little size machine is compact. What's more, can likewise be used in small area.
 Cost productive.
 Improve agricultural soil carbon sequestration
 Save vitality, money and time of a farmer.
 Required seed separating can be accomplished.
 Variety of seed can be sown by this machine.
 When contrasted with customary sowing strategies time required is less.
 Seed stream can be controlled

1.6. LIMITATION OF THE STUDY

The machine has to sets of partition in the seed box, contains a seed and fertilizer. The machine
controls only the number of seed be to sowed and spaced need by the seed. The fertilizer is set be
released continuously; this may cause an excess amount of fertilizer to be used. The speed of the
machine solely depends on the type of electric motor used. It causes unfriendly communication
with the operator.

CHAPTER TWO

2. LITERATURE REVIEW
Seed sowing machine is a device which helps in sowing of seeds in the desired position hence
assisting the farmers in saving money and time. Before this time, many researchers tried to
design and manufacture seed sowing machine in order to decrease farmer’s fatigue and increase
overall crop production.

2.1 Literature Review at International Level

Prasanna Raut [Link] presented a better speed of operation and good Seed Sowing capacity for
new advanced agriculture process which includes robotic based cultivation. An agriculture
robotic system is used. They have used DC motor which has four wheels. An agricultural farm is
cultivated by the Plow machine, depending on the crop considering particular rows specific
columns. Ultrasonic sensor detects the blocks in the path with measure the distance between
both robot and block. Also, senses turning position of our vehicle at end of each column. The
seed block can be detected and solved using water pressure. This machine can be controlled on
remotely. A sensor guided robot rover for digging, precise seed positioning and sowing has been
proposed to reduce the human effort. [4]

Raut Madhuri [Link] Multipurpose seed sowing machine consist of two mechanisms one for
sowing of the seed and another for fertilizer spraying. Both of these mechanisms run
simultaneously. We can use insecticide instead of fertilizer. The essential objective of sowing
operation is to put the seed and fertilizer in desired depth and provide required spacing between
the seeds and cover the seeds with soil. We can achieve optimum yield by proper compaction
over the seed and recommended row spacing. To meet the demands farmer, have to use new
techniques in cropping to increase the yield. The requirements of small-scale sowing machines
are, they should be simple in design, affordable for small scale peasant farmers, easy
maintenance for effective handling by unskilled farmers. In this project the attempt has been
made for reduction in cost of machine and developing the multifunctional sowing machine which
can perform simultaneous operations. [5]
 Figure
2.1-Multipurpose Seed sowing machine
Source: Raut Madhuri [Link] project

Sagar R. [Link], the improvement in agriculture processes like automatic planting of seeds on
ploughed land by using robot. We have developed a robotic vehicle having four wheels and
steered by DC motors. The seed planting mechanism is fitted on the vehicle to plant the seeds in
uniform manner. The enhanced agriculture robotic system architecture gives us the opportunity
to develop a completely new range of agricultural equipment based on small smart machines.
The machine will cultivate the farm by considering particular rows and specific column at fixed
distance depending on different seeds. The obstacle detection problem will also be considered,
sensed by infrared sensor. Forward movement of the vehicle can be defined by defining delay to
microcontroller. Turning of the vehicle can be obtained by position encoder circuit which is
fixed to one of the wheels. The complete assembly can be powered by using 12V rechargeable
battery. The battery can be charged by using solar panel which is also mounted on robot.
Assembly language is used in programming the microcontrollers. The whole algorithm,
processing, monitoring is designed with dc motors, sensor and encoder circuit. They result
obtained through activation unit is also presented. [6]
Swetha S. [Link], in this machine solar panel is used to capture solar energy and then it is
converted into electrical energy which in turn is used to charge 12V battery, which then gives the
necessary power to a shunt wound DC motor. This power is then transmitted to the DC motor to
drive the wheels. And to further reduction of labor dependency, IR sensors are used to maneuver
robot in the field. Here 4 post sensors are used to define the territory and robot senses the track
length and pitch for movement from line to line. [7]

Kunal A. Dhande. [Link] In this work replace complicated gear system by hall effect sensor for
easier and costlier seed sowing and also reduce a need of labor. The Hall Effect sensor convert
rotation into distance for which seed sowing at particular distance. Also, there is adjustable
system for sowing at different distance. By using this machine, the sowing can be done row by
row and distance will maintain. [8]

Figure 2.2- Machine of Seed Sowing

Source: Kunal A. Dhande. [Link] project

Trupti A. Shinde. [Link] In seed sowing machine system, they are used battery powered wheels
and dc motor inbuilt in these wheels. When the seeds are empty it detects the level of storage
seed and indicates the alarm. When any obstacle comes in the in-front of machine or divert path
the seed sowing machine can detect this obstacle very easily. In each complete rotation of
rotating wheel there is seeds falls from this seed drum and the seed plantation process can take
place smoothly as well as without wastage of seeds. The end of system machine reached and it
create alarm. [9]
Figure 2.3 Design Automated seed sowing machine

2.2 Literature Review at National Level

Addisalem A., Velmurugan P. and Senthil K. the advancement of this present work from the
theoretical aspects to its practical application is a huge contribution to the development of
Ethiopian Agricultural technology and enhances the productivity of the sector. The seed planter
machine’s design is not intricate, and its fabrication should be promoted considering the import
substitution, less maintenance, and no skilled labor requirements. On the functionality and
performance testing, it was observed that the seed planter has been operating effectively and put
the maize seed fertilizer within the designed space of the plant. Observed that the machine has
light in weight, portable to handle, and interesting ergonomically [14].
Figure 2.4-Multi-seed Planting Machine
Source: Addisalem A., Velmurugan P. and Senthil K. project

Mebrhit A., Elias B., Bezawit D, Henok B, Samuel N and Zenawi T. The ground wheel will
rotate when it pulled by any method, mean by oxen or by motor. In addition, the rotational
motion from the ground wheel is transmitted by V-belt to the seeding interval controlling
mechanism (smaller axle and disk assembly) so that, seeding at intervals is possible. This
coordination results in simultaneous ploughing and seeding. But the fertilizer flows continuously
at initially adjusted flow rate (has flow rate valve). Next to these operations it covers the
borrowed/ ploughed line by soil at the left and right with the help of circular flatty pans arranged
suitably. The machine can plough at a time at least six lines. No need of human supporter to keep
the line [15].

Figure 2.5-Hybrid Ploughing, Seeding and Fertilizing Machine

 CHAPTER THREE

3. METHODOLOGY

Agriculture is the backbone of the Ethiopian economy and it will continue to remain so for a
long time. In the farming process, often used conventional sowing operation takes more time and
more labor and ineffective time-consuming farming techniques which ultimately increases the
cost of farming. The seed feed rate is more but the time required for the total operation is more
and the total cost is increased due to labor, hiring of equipment. The conventional seed sowing
operations are less efficient and time consuming. Development in farming increases economic
level of country.

3.1. Traditional Sowing Methods

Traditional methods include:

3.1.1. Broadcasting: - A field is initially prepared with a plough to a series of linear cuts known
as furrows. The field is then seeded by throwing the seeds over the field, a method known as
manual broadcasting. The result was a field planted roughly in rows, but having a large number
of plants. When the seeds are scattered randomly with the help of hand on the soil, the method is
called broadcasting.

Figure Broadcasting
3.1.2 Dribbling: - Drill sowing and dribbling (making small holes in the ground for seeds) are
better method of sowing the seeds. Once the seeds are put in the holes, they are then covered
with the soil. This saves time and labor and prevents the damage of seeds by birds.

Figure Dribbling

3.1.3 Seed sowing with bamboo tube

Another method of sowing the seeds is with the help of a simple device consisting of bamboo
tube with a funnel on it attached to a plough. As the plough moves over the field the tube
attached to it leaves the seeds kept in the funnel at proper spacing and depth. The plough keeps
making furrows in the soil in which the seeds are dropped by the seed drill.

Figure Seed sowing with bamboo tube

Limitations of traditional seed sowing methods

1) In manual seeding, it is not possible to achieve uniformity in distribution of seeds. A farmer

may sow at desired seed rate but inter- row and intra – row distribution of seeds is likely to be
uneven resulting in bunching and gaps in field.

2) Poor control over depth of seed placement.

3) It is necessary to sow at high seed rates and bring the plant population to desired level by
thinning.

4) Labor requirement is high because two persons are required for dropping seed and fertilizer.

5) The effect of inaccuracies in seed placement on plant stand is greater in case of crops sown
under dry farming conditions. Placement of seeds at uneven depth may result in poor emergence
because subsequent rains bring additional soil cover over the seed and affect plant.

3.2 Seed sowing machines

There are different seed sowing machines which are designed to accomplish the tasks such as
drilling the ground, seed sowing and covering the seed by soil. Even though these machines are
designed to seed sowing, they have a draw back and have to be updated for better usage in
agricultural industry.

Seed sowing machines have the following draw backs:

 they have single hoper.

 they are not accurate in seed spacing during sowing.
 only specific seeds can be sowed.
 Perform the less various simultaneous operations.
 It is operated on battery supply, if any failure occurs whole system not work properly.

3.2.1. Solar operated Seed Sowing Machine

Why we used solar seed sowing machine?

In this project, we are attempting to design solar powered seed sowing machine which
accomplish tasks such as drilling ground, Sow seed inside the drilled hole and covering the seed
by soil. The machine accomplishes these tasks simultaneously, which reduces the cost, manual
effort and increase the production yield. The solar powered seed sowing machine will have the
features such as:

 They are multi-hoper.

 they are accurate in seed spacing during sowing.
 varied seeds can be sowed.
 Perform the various simultaneous operations.
 Maintain row spacing and controls seed rate.
 Less labor required.

3.3 Operation of the machine

In this machine a solar panel is used to consume solar energy and this energy is going to
converted into electrical energy. The start of the machine is when it has enough stored energy in
the led acid battery. When the machine has enough power, the operator will start the machine
with push button. The push button starts two operations, start the motion of the machine (battery)
and DC motor that will start the seed sowing.

The machine has two electric motors that will operate from the source of the solar energy that
has stored in the battery. When the push button starts (ON state), DC motor-1 runs and the
motion of the machine starts to perform ploughing. Then after 15 second delay DC motor-2 has
started its seed sowing and fertilizer spraying at the prepared open land and finally cover the seed
with soil simultaneously.

The DC motor is controlled by Arduino micro controller. One of the main purposes of the
machine is to be applicable to different kind of seeds, some seeds does not need much of space
and some seeds some space. The machine controls this spacing between seeds by the opening
and closing the connector that is controlled by the DC motor. The DC motor follows the code
that has be programmed into the micro controller Arduino. The DC motor closing and opening is
maintained by a timer that is integrated by the micro controller Arduino, the timing of operating
the DC motor is settled by the operator manually. It is because the machine does not recognize
the type of seed it sows.
 The wheel of the machine is solely depended on the type and size of the electric motor used. The
direction of the wheel is controlled by the operator manually. It’s a push and pull mechanism to
the arm of the machine. The turning of the machine is also done by the operator.

DC motor-1 Wheel movement, Ploughing

Solar start
panel

Switch Microcontroller (Arduino) Timer

Charging controller

Seed sowing

15 seconds’ delay
DC motor - 2
 Fertilizer sowing mechanism

Seed covering

There are two adjustable diggers mounted on the back of the machine with an angle of 35 ° with
respect to the ground. This will be decided by comparing the actual plough tool used by farmers
which has suitable angle varying between 15 ° to 50 ° depending upon the depth of cut. The
plough can be easily removed and added a required plough according to the seed type and the
need of the operator.

Two reservoirs are located on the either side of the vehicle from which the seeds are passed to a
sowing mechanism.
Rotary motion of wheels provided to the sowing shaft (which will placed in seed storage tank) by
sprocket or belt drive. Due to this the plate will rotate and the seeds are dropped from the
reservoir by using the pushing of sprocket edge. The reservoir is connected to the connector, the
connector is a hole(pipe) depending on the type of seed the size of the connector varies, i.e.
Some seeds are big while others are small. The connector is intermediate between DC motor and
reservoir. The main reason of the connector is to control the flow of the seed. The seeds coming
from the reservoir would be picked up by a fan type arrangement which lifts the seeds from one
side and then drops them on the other side. Then those seeds would be dropped on the ground
through a circular opening. This mechanism will be connected to the driven shaft of the vehicle
due to which it rotates simultaneously.
To put the soil back on the seeds a plate adjuster is used which cover the same previously digged
soil back on the seeds. This will be decided by taking into consideration the direction of flow of
soil when it will be digged.
The microcontroller will be used to control and monitor the process of system motion of vehicle.
It will be controlled with help of DC motor. This system will also detect obstacle present in the
path of the vehicle by infrared sensor. It is also used for sensing turning position of vehicle at the
end of the land. Because of no man power requirement and high speed of operation, it has scope
for further expansion.
All process is done due to two main things. First, due to the stored energy. The energy is stored
in the lead acid battery from the source of solar energy. The solar energy is collected from the
solar panel that is found in the top side of machine along the reservoir opening. The collected
solar energy is converted into electrical energy and stored to lead acid battery. Even if the
machine is not operating the solar panel never stops to collects its energy and convert it into
electrical energy. This is main reason for why the source of energy is solar energy for the seed
sowing machine. Secondly, is due the operator.

3.5 SEED SOWING MACHINE MECHANISM

Storage device is one of the important devices of the system. And is designed according to
weight sustained by the machine as well as the required capacity for seeding. This component is
stationary. To the bottom of this tank seed sowing disc is arranged. This disc serves the function
of distribution of the seeds, as for each complete rotation of the rotating wheel, only one seed
falls from the tank. Also, number of seeds falling from tank is varied according to requirements.
This disc evenly opens the way to seed hence planting is done smoothly and accurately.

Seed sowing principle

We have designed seed sowing machine in order to sow the seeds at predetermined place with appropriate
distance between two consecutive lines in the field and distance between seed to seed in one line.

Should be fixed

Should be fixed
 Fig. how seeds should be sowed in the field

 As we have seen on the above diagram, the distance between two consecutive lines in the field
should be fixed for each type of seed, that means each type of seed have their own line to line
distance when they are sowed, and the distance between two consecutive seed that are sowed in
the field also should have appropriate distance in order to increase productivity.
 The following diagram shows how motion provided for each component of seed sowing
mechanism.
Fig motion flow process
3.4. Material selection and mechanical analysis of components or structures

No. order Components Quantity Materials

1 Solar panel 1 Photo-voltaic (PV)
cells
2 Seed box 2 Cast carbon Steel
3 DC motor 2
4 2
5 Mechanical wheel 4 Cast carbon steel
with plastic
6 1 Cast carbon steel
7 Metal sheet, collector Cast carbon steel
8 Microcontroller/Arduino 1
9 Connector 2 Cast carbon steel
10 Wires
11 Battery 2(12 V DC)
12 Timer 1
Table 3.1 Specification of materials used for seed sowing machine.

1. PHOTOVOLTAIC (PV) CELL:

photovoltaic (PV) cells, which as the name implies (photo meaning "light" and voltaic meaning
"electricity"), convert sunlight directly into electricity. A module is a group of cells connected
electrically and packaged into a frame (more commonly known as a solar panel).

Solar panel refers to a panel designed to absorb the sun's rays as a source of energy for
generating electricity or heating.
 Figure 3. Internal structure of solar panel

The primary component of a solar panel is the solar cells, or photovoltaic cell. This is the key
component that converts sunlight into electricity. At the present time about 80% of all solar
panels are made from crystalline silicon (i.e., Monocrystalline, polycrystalline, amorphous
silicon, or hybrids) solar cells.

Specification:100W, size:(1.68x0.80x0.3)

2. Seed storage:

In this machine seeding box is the important part of seed sowing machine. Seeding box is used
to store the seed. It operates through the shaking of the seed box and the seed falls through the
unique built holes. In this project seed feeder is used to feed the seed in a particular time period.
Specifications;

Shape: circular shape

Thickness: 10 mm

Material: cast carbon steel

Dimensions: [Dxh] = [600x180]mm

3. MOTOR

An electric motor is a device used to convert electrical energy to mechanical energy. Electric
motors are extremely important in modern-day life. The basic principle on which motors operate
is Ampere's law. This law states that a wire carrying an electric current produces a magnetic field
around itself.
Trail run was made with many motors but only the wiper motor worked out, it is the only motor
which is easily controlled by the motor drive which has been used. It also works at low voltage
(12v and 5amps). The wiper motor is permanent- magnet direct current (DC) one. Wiper motor,
is the core of the whole wiper system.
Therefore, the quality of the wiper motor must be guaranteed to ensure performance. The
technical Specifications of the wiper motor are;
Rated torque =71.85 Nm, Maximum wattage =50W/12 VDC,
Unload high speed =50rpm, 1.5A
Motor noise = < 45dB, Unload low speed =35rpm, 1.0A,
Spindle/post thread size = M-6.

4. WHEEL

A circular plate is mounted on the bush with the help of C. I. Strip and spikes of certain
measurements (according soil condition) on the surface of circular plate.
Specifications;

Materials: cast carbon steel, rubber

Dimension: 300 Dia. x 240mm

5. SPROCKET

A sprocket or sprocket-wheel is a profiled wheel with teeth, cogs, or even sprockets that mesh
with a chain, track or other perforated or indented material. The sprocket helps the chain driver
motor to drive it easily. It is a 4-wheel drive mechanism. It gives the power to turn in muddy
region or farms.

Specifications
 6. CHAIN DRIVE

It is a way of transmitting mechanical power from one place to another. It is often used to convey
power to the wheels of a vehicle, particularly bicycles and motor cycles. the chain are made up
of no. of rigid links which are hinges together by pin joints in order to provide. The necessary
flexibility for wrapping round the driving & driven wheels. These wheels have projecting teeth
of special profile a fact into the corresponding recess. Links of the chain. The toothed wheel are
known as sprockets wheel. Which transfer the motion.
 7. SHAFT

It is made of C. I. on which disc and four gear sprocket is mounted. It is used to transfer the
power from ground wheel to each disc.

8. PLOUGH

It is made of C. I. material which is for loosening or turning the soil before sowing seed or
planting.

9. BATTERY

An electric battery is a device consisting of one or more electrochemical cells that convert stored
chemical energy into electrical energy. Each cell contains a positive terminal, or cathode, and a
negative terminal, or anode. Electrolytes allow ions to move between the electrodes and
terminals, which allows current to flow out of the battery to perform work.

Specification;
Battery: 7.5 Amp Hour 12 Volts Sealed Lead Acid Battery.
The Smart Battery 12V Lithium Ion Battery is the Ultimate High-Performance solution for
virtually any application. This battery features an automatic built in battery protection system
(BPS) that keeps the battery running at peak performance and protects the cells for thousands of
cycles.

[Link] Uno

Arduino is an open-source electric platform based on easy-to-use hardware and software.

Arduino boards are able to read input - light on a sensor, a finger on a bottom, or a twitter
message and turn it into an output - activating a motor, turning on an LED, publishing
something.

[Link]
Is one of seed sowing machine components that use to cover the seed with a [Link] made of cast
carbon steel.

Figure

[Link]

A timer uses a counter at a certain speed depending upon the clock frequency. In Arduino uno it
takes 1/ 1600000 seconds or 2 nano seconds to make a single count. Meaning Arduino moves
from one instruction to another instruction for every 62 nano second.

[Link]
Wire is used to connect different electrical parts with one another.

14 Circular plate

Is a plate that has multiple holes. when the motor starts its rotation, the plate rotates in order for
the passage of seeds to the tube.

FIGURE
 15 Metal sheet

Metal sheet is a type of metal that is durable and light. It used to cover the body of the machine,
the solar panel and the reservoir are mounted on it and it holds the shaft of mechanical wheel.

3.5 Working principle of the machine

The machine will absorb the electrical energy from the solar panel and convert the solar energy
into electrical energy. The absorbed electrical energy will be stored to lead acid battery. The
solar panel estimated to absorb 100 watt which will take 5.5 hour to fully one 12-volt lead acid
battery, the machine has two lead acid battery therefor the machine will need about 11 hours to
fully charged. After that the machine can operate from the source of the battery and solar panel.

To start the operation the operator has to push the switch on to start. When the machine is
switched on the two electrical motors will receive the current from the battery and actuate the
motor, also the two DC motors will be activated. The second DC motor has 15 second delay after
it’s been activated. After the operator has switched on the machine, he/ she has to set the time of
servo motor time action. It has a range of 1-20 seconds.

Plough that found on the machine will open the loamy soil by the force applied to it from the
electric motor and human effort. Depending on the time set by the operator the seed sowed, by
the operation of DC motor. The DC motor operates like a valve when the set time reached the
DC motor opens the connector to allow the seed to sow and closes the connector to block the
seed. Which control the spacing of the seed. The same mechanism happens to the fertilizer, the
only difference is there time delay. This time delay difference is due to the space found on the
fertilizer connector and seed connector, in order to put them together on the soil. The collector
that’s found on the back on the machine used to flatten the soil that’s been prepared for the seed
to be sowed.
 CHAPTER FOUR

[Link] CALCULATION OF VARIOUS COMPONENTS

4.1.1 CALCULATION OF TORQUE TRANSMITTED ON THE WHEEL

Tw=Kw*Wt*Rw

Where Kw= Coefficient of rolling resistance is 0.3

Wt= active weight of the machine (50 kg)

Rw= radius of the ground wheel

Kw=0.3, Wt= 50 kg = 50*9.81=490.5, Rw=150mm= 0.15 m

Tw= 0.3*490.5*0.15=22.0725N-M

4.2.2 CALCULATION OF POWER OF THE MOTOR

2 πNT
P=
60
 2 π∗250∗22.0725
P= = 0.57785 KW
60000

4.2.3 DESIGN OF CHAIN DRIVE

Centre distance, a = 800mm

Maximum speed, N = 250rpm
Minimum speed, n = 20rpm

STEP: 1 SELECTION OF TRANSMISSION RATIO

Z2/Z1=No. of teeth on sprocket wheel/No. of teeth on sprocket pinion=n1/n2=Speed of

pinion/Speed of wheel
N Z2 250
I= = I= I = 12.5
n Z1 20

STEP: 2 SELECTIONS OF NUMBER OF TEETH,

From PSGDB 7.74,

For, I = 12.5 Corresponding, Z1 = 11

STEP: 3 CALCULATIONS OF NUMBER OF TEETH

Z2 = I*Z1

Z2 = 12.5*11Z2 = 137.5 = 138

STEP: 4 CALCULATION OF PITCH

From PSGDB 7.74

Optimum center distance, a = (30 to 50) P
a 800
Thus, P = = = 26.67 mm
30 30

a 800
P= = = 16 mm
50 50

From PSGDB 7.74 ; Standard pitch value, P = 15.875mm

STEP: 5 CALCULATIONS OF LENGTH OF THE CHAIN

From PSGDB 7.75

lp = 2ap +
Z 1+ Z 2
2
+ ( )
Z 1+Z 2
2π 2
…………….
ap

a0 800
Where, ap = (a0 = a)ap = = 50.39 mm
p 15.875

Therefore lp = (2*50.39) +
11+ 38
2
+ ( 138−11
2 π ) = 183.38
50.39

Length of the chain l = lp*p = 183.38 * 15.875 = 2911.15 mm

STEP: 6 CALCULATION OF CENTRE DISTANCE

PSGDB 7.75,

e+ √(e 2−8 m)
a= ( )* p
4

Z 1+ Z 2 11+138
where, e = lp- ( ) = 183.38-( ) = 108.88 mm
2 2

Z 2−Z 1 2 138−11 2
Where, m= (( ) )= ( ) = 408.55 mm
2π 2π

Then, a = (108.88 +√ ¿ ¿ ¿ * 15.875 = 799.87 mm

STEP: 7 CALCULATION OF SERVICE FACTOR

From PSGDB 7.76

Ks = K1*K2*K3*K4*K5*K6 where k1= Load Factor

k2= Factor for distance regulation

k3= Factor for center distance

k4= Factor for position of sprockets

k5= Lubrication factor

k6= Rating factor

Where, K1 = 1.25, K2 = 1, K3 = 1 , K4 =1 , K5 = 1, K6 = 1.25

Therefore, Ks = 1.25 * 1*1*1*1*1.25 = 1.5625

STEP: 8 CALCULATION OF BEARING STRESS

From PSGDB 7.77,

σAv
Power, N =
102 K s

Z 1∗P∗N
Where, v =
60

11∗15.875∗250
v= = 0.727m/s
60000

From PSGDB 7.72, We Choose 10A2DR50 Chain,

Where Area A = 1.40 cm2,

σAv σ∗1.40∗0.727
N= , 231.142 = σ =59.358 K N
102 K s 102∗2.5625

STEP: 9 CALCULATION OF TOTAL LOAD

ΣP = Pt + Pc + Ps Where Pt = Tangential force

Pc = Centrifugal tension

Ps= Tension due to sagging.

Tangential force Pt[PSGDB 7.78]

1020∗N 1020∗231.142
Where, Pt = = = 324.29 *103 N
v 0.727

Where, Pc = mv2

From PSGDB 7.72, We Choose 10A2DR50 Chain,

where W=1.78

Pc = 1.78 * o.7272 = 0.940 N

Where, Ps = K*W*a*10 where; k =coefficient of sag W= Weight mg a =centre distance

From PSGDB 7.78 (K=6, For Horizontal)

Ps = 6*1.78*799.89*10 = 85.42 *103

ΣP = (324.29 *103) + 0.940 + (85.42 *103) = 409.71 * 103

STEP: 10, CALCULATION OF THE PITCH DIAMETER OF THE SPROCKET

P
d1 = 180 = 56.69 mm
sin ⁡( )
Z1

P
d2 = 180 = 721.59 mm
sin ⁡( )
Z2

4.3 SLIDING VELOCITY OF THE SEEDS

πdN
v=
60

π∗300∗250
v= = 3.926 m/s
60000

4.4 SPEED OF THE GROUND WHEEL

Nw = ¿¿

3.926∗100
N w= = 2.08 rpm
60 π

2∗πN 2∗π∗250
Where, Angular velocity, ω = =
60 60

ω = 26.17 rad/s

4.5ANGULAR VELOCITY TO LINEAR VELOCITY FORMULA

v = r*ω
Where, r = radius of the wheel in m

v = 0.15* 26.17 = 3.925 m/s

Design of shaft

4.6 SPEED CONTROL Of DC MOTOR

4.6.1 DC Motor

Electric motors are machines that convert electrical energy—from either stored power or a direct
electrical connection—into mechanical energy through the production of rotational force. The
two major types of electric motors are:

 AC motors, which are powered by alternating current

 DC motors, which are powered by direct current

Electric motors play an essential role in almost every industry. Using the right type of motor with
high-quality parts and regular servicing keeps your facility running smoothly and prevents
damage to the endpoint equipment due to wear or power surges.

AC motors are generally considered to be more powerful than DC motors because they can
generate higher torque by using a more powerful current. However, DC motors are typically
more efficient and make better use of their input energy.

4.6.2 Why we need DC motors rather than AC motors

In the electric power niche, over 70% of motors in use are induction motors. DC motors come
with many advantages over the conventional AC designs.

DC Motors have Higher Starting Torque

Because DC motors have higher starting torque compared to AC motors, they are preferred for
applications like electrical traction. They are considered ideal for dealing with heavy loads for
starting conditions in machines such as locomotives and cranes. Note that there is a wide range
of DC motors for higher starting torque to match your applications.
They can Easily Control Speed
Unlike most AC motors in the market, DC motors are capable to control speed above/below the
rated levels. For example, the DC shunt motors are easy to vary the speed safely. This means that
they can be used on a wide range of applications. This makes them ideal for producers who need
to vary production rates during different shifts or seasons.

DC Motors do not have Harmonic Effect

One of the notable things about induction motors is the harmonic effect. Harmonic is a voltage at
a multiple of the primary frequency of the motor system, generated by induction of non-linear
loads like discharge lighting or saturated magnetic devices. In most electric motors, harmonic
effect results in heating, noise, and harmonic current in the rotor. However, DC motors are better
because they do not create any harmonics and you can operate without worrying about associated
problems.
The Motors are Easy to Promptly Control
One fact about most motors is that controlling them fast and accurately is never simple.
However, DC motors have moved away from the problem. For example, you can use DC motors
for applications that require immediate start, reverse movements and stopping for optimal
performance.
DC Motors are better for Low-Cost Operations
Many people opt for DC motors as opposed to others because they are cheaper. This is especially
true when dealing with fractional HP applications. Because DC motors have been around for
more than 130 years, the installed base is also large and familiarity for maintenance impressive.
Therefore, you are assured of easily getting a technician to diagnose and repair your DC motor at
a low cost.
DC Motors have Fewer Rectification and Electronics Needs
When you install a DC motor, it requires less electronic and rectification on power electronics
system circuit compared to the AC inverters. This means that you can directly fit the motor and
start using it by feeding directly from the power source.
Easy Speed regulation
One of the primary reasons that make DC motors popular for commercial and home operations is
the ease of speed regulation. You simply need to adjust the voltage terminal using a
potentiometer. Therefore, if you need higher speed control, it is advisable to go for DC motor.

Controllers
A controller is basically a unit present in a control system that generates control signals to reduce
the deviation of the actual value from the desired value to almost zero or lowest possible value. It
is responsible for the control action of the system so as to get accurate output.

The method of producing a control signal by the controller is known as control action.

The figure below represents the block diagram of an industrial controller:

Basically, the deviation of the achieved output from the reference input is the error signal which
is needed to be compensated by the controller so that the system generates required output.
The control of the speed and direction of the motors presupposes the mode of operation of the
motor in use and requires different techniques and circuits depending on the type of motor and
the different application requirements.

The purpose of a motor controller is to be able to act manually or automatically on the electric
motor (start-stop, advance-inversion, speed, torsion, and protection against voltage overloads).

4.6.3 How to Control DC Motor Speed?

First of all,  there is one features common in all types of DC motors. The rate of acceleration
depends on the magnitude of the armature terminal voltage. Therefore, We can use this common
feature to control speed. Speed control by changing armature terminal voltage is the same in all
types of DC motors.  In short, we can apply the same method to all direct current rotational
machines.

At the start, to make this project possible, we have to learn a method through which we can apply
variable DC voltage to the armature of any DC motor. Thereafter, we can control the speed of
DC motor according to our requirements.

Methods to generate a variable armature voltage

We can generate variable dc voltage by two methods. Firstly, we will discuss the variable power
supply method. After that, we will briefly go through the pulse width modulation technique.

Variable power supply method

In variable power supply technique, there are some limitations. But we can still use it for small
power DC motors.  It can be controlled by making a variable power supply with the help of
voltage regulators. They are capable to generate variable voltage within a specified limit
provided by the manufacturer. There are many voltage regulators in the market. But there will be
an issue of the current rating of DC motor. Because power supplies that make with such voltage
regulators have not too much high power handling capability. A power supply is the main source
of power to DC motor. Therefore this method is not practically feasible and recommended. This
technique is costly also.

Control DC Motors with L293D Motor Driver IC & Arduino

Arduino is an open-source platform used for building electronics projects. Arduino consists of
both a physical programmable circuit board (often referred to as a microcontroller) and a piece of
software, or IDE (Integrated Development Environment) that runs on your computer, used to
write and upload computer code to the physical board.

Controlling a DC Motor

In order to have a complete control over DC motor, we have to control its speed and rotation
direction. This can be achieved by combining these two techniques.

 PWM – For controlling speed

 H-Bridge – For controlling rotation direction

pulse width modulation Technique

On the contrary, pulse width modulation is the best method to control DC voltage applied to the
terminal of the armature. In pulse width modulation,  we actually control the switching duty
cycle, which is the ratio of on-time to the total time of switching.

Pulse-width modulation for DC motor speed control

Pulse-width modulation (PWM) or duty-cycle variation methods are commonly used in speed

control of DC motors. The duty cycle is defined as the percentage of digital ‘high’ to digital
‘low’ plus digital ‘high’ pulse-width during a PWM period.

This is a method to control the output voltage with constant frequency switching and by
adjusting on the duration of switching and in other words by changing the duty cycle of
switching.

PWM is a way to use a digital output to vary the on, or high time, to create a variable output or
square wave. If the PWM signal runs at a fixed frequency, then changing the high time of the
signal will also change the low time of the signal.
The amount of time the signal remains high is typically called the pulse width. That pulse width
relative to the period of the signal is called the duty cycle. i.e.
1. Increasing duty or Pulse Width will increase the speed of  DC motor .
[Link] duty or Pulse Width will decreasing the speed of DC motor.

The period of the signal is defined as the time from one rising edge to the next rising edge of the
square wave signal and is inversely proportional to the PWM frequency.

The period can easily be calculated by using the formula:

Period = 1/Frequency.

For example, if the frequency is 1 kHz, the period will be 1 millisecond.

Constant switching time period = on time + off

Duty Cycle = (on time / on time + off time )* 100%

The duty cycle can not be greater than 1 or 100%. Because on time will always be less than the
total time period of switching frequency. The relationship of input-output voltage and the duty
cycle is

output voltage =  duty cycle * input voltage

Hence the output voltage and duty cycle is directly related to each other. However, their output
also depends on switching frequency of switch.

Why We Need PWM For Speed Controlling Of DC Motor?

You may wonder why we need PWM signal for controlling DC motor speed when a resistor in
series with the motor can simply do this job.
It’s because you don’t get enough torque to drive the motor with the help of resistor.
Limitation of using resistor

 DC motor needs more power during the operation, also it draws more current from

the supply.
 If we use resistors, the motor will not get enough power to rotate because some of the
power is dropped across the resistor (Low current).

 Also the current will be very low.

Key Features

o Excellent performance
o Easy to operate
o Switch control function
o Application

Excellent performance: The enclosure of this speed controller is well built and has an
aluminum enclosure. The aluminum is strong enough to prevent any damage. There are holes on
the top and sides of the motor that are beneficial in heat dissipation.

Regulate Range: It has a voltage of 10V to 55V, having a maximum current of 60A. The speed
range is 0 to 100% and a control frequency of 15KHZ.

Easy to operate: The potentiometer knob in this motor can be easily adjusted from 0 to 100%
motor speed. It does it very smoothly. You can see the motor speed clearly in its LED display.

Switch Control Function: This DC speed controller comes with a switch button. It makes it
easy to use. With a high-power controller, you can change the motor direction at your
convenience.

Application: You can use this speed controller to regulate your brush motor speed or regulate
the DC circuit’s dim lights.

PWM Generation Methods

But now the question which must come into mind. How to generate PWM and how to use PWM
for variable output voltage generation?  At the present time, there are two ways to generate pulse
width modulation with variable duty cycle:

1. Using analog electronics (operational amplifier, comparator and sawtooth wave, etc.).
2. Using digital electronics (microcontrollers and dedicated PWM controller’s IC’s).
H-Bridge – For controlling rotation direction

The DC motor’s spinning direction can be controlled by changing polarity of its input voltage. A
common technique for doing this is to use an H-Bridge.

An H-Bridge circuit contains four switches with the motor at the center forming an H-like
arrangement.

Closing two particular switches at the same time reverses the polarity of the voltage applied to
the motor. This causes change in spinning direction of the motor.
Below animation illustrates H-Bridge circuit working.

L293D Motor Driver IC

The L293D is a dual-channel H-Bridge motor driver capable of driving a pair of DC motors or
one stepper motor.
That means it can individually drive up to two motors making it ideal for building two-wheel
robot platforms.
Power Supply:
The L293D motor driver IC actually has two power input pins viz. ‘Vcc1’ and ‘Vcc2’.
Vcc1 is used for driving the internal logic circuitry which should be 5V.
From Vcc2 pin the H-Bridge gets its power for driving the motors which can be 4.5V to 36V.
And they both sink to a common ground named GND.
Output Terminals:
The L293D motor driver’s output channels for the motor A and B are brought out to pins OUT1,
OUT2 and OUT3, OUT4 respectively.
You can connect two DC motors having voltages between 4.5 to 36V to these terminals.
Each channel on the IC can deliver up to 600mA to the DC motor. However, the amount of
current supplied to the motor depends on system’s power supply.
Control Pins:
For each of the L293D’s channels, there are two types of control pins which allow us to control
speed and spinning direction of the DC motors at the same time viz. Direction control pins &
Speed control pins.

Direction Control Pins:

Using the direction control pins, we can control whether the motor spins forward or backward.
These pins actually control the switches of the H-Bridge circuit inside L293D IC.

The IC has two direction control pins for each channel. The IN1,IN2 pins control the spinning
direction of the motor A while IN3,IN4 control motor B.

The spinning direction of a motor can be controlled by applying either a logic HIGH(5 Volts) or
logic LOW(Ground) to these pins. The below chart illustrates how this is done.

IN1 IN2 Spinning Direction

Low(0) Low(0) Motor OFF

High(1) Low(0) Forward

Low(0) High(1) Backward

High(1) High(1) Motor OFF

Speed Control Pins:

The speed control pins viz. ENA and ENB are used to turn ON, OFF and control speed of motor
A and motor B respectively.

Pulling these pins HIGH will make the motors spin, pulling it LOW will make them stop. But,
with Pulse Width Modulation (PWM), we can actually control the speed of the motors.

Wiring L293D motor driver IC with Arduino UNO:

Now that we know everything about the IC, we can begin hooking it up to our Arduino!

Start by connecting power supply to the motors. In our experiment we are using DC Gearbox
Motors (also known as ‘TT’ motors) that are usually found in two-wheel-drive robots. They are
rated for 3 to 9V. So, we will connect external 9V power supply to the Vcc2 pin.
Next, we need to supply 5 Volts for the L293D’s logic circuitry. Connect Vcc1 pin to 5V output
on Arduino. Make sure you common all the grounds in the circuit.
Now, the input and enable pins (ENA, IN1, IN2, IN3, IN4 and ENB) of the L293D IC are
connected to six Arduino digital output pins (9, 8, 7, 5, 4 and 3). Note that the Arduino output
pins 9 and 3 are both PWM-enabled.
Finally, connect one motor to across OUT1 & OUT2 and the other motor across OUT3 & OUT4.
You can interchange your motor’s connections, technically, there is no right or wrong way.

When you’re done you should have something that looks similar to the illustration shown below.

Arduino Code – Controlling a DC Motor

// Motor A connections
int enA = 9;
int in1 = 8;
int in2 = 7;
// Motor B connections
int enB = 3;
int in3 = 5;
int in4 = 4;

void setup() {
// Set all the motor control pins to outputs
pinMode(enA, OUTPUT);
pinMode(enB, OUTPUT);
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
pinMode(in3, OUTPUT);
pinMode(in4, OUTPUT);

// Turn off motors - Initial state

digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
}

void loop() {
directionControl();
delay(1000);
speedControl();
delay(1000);
}

// This function lets you control spinning direction of motors

void directionControl() {
// Set motors to maximum speed
// For PWM maximum possible values are 0 to 255
analogWrite(enA, 255);
analogWrite(enB, 255);

// Turn on motor A & B

digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
delay(2000);

// Now change motor directions

digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
delay(2000);

// Turn off motors

digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
}

// This function lets you control speed of the motors

void speedControl() {
// Turn on motors
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
 // Accelerate from zero to maximum speed
for (int i = 0; i < 256; i++) {
analogWrite(enA, i);
analogWrite(enB, i);
delay(20);
}

// Decelerate from maximum speed to zero

for (int i = 255; i >= 0; --i) {
analogWrite(enA, i);
analogWrite(enB, i);
delay(20);
}

// Now turn off motors

digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);

Code Explanation:
The arduino code is pretty straightforward. It doesn’t require any libraries to get it working. The
sketch starts with declaring Arduino pins to which L293D’s control pins are connected.
// Motor A connections
int enA = 9;
int in1 = 8;
int in2 = 7;
// Motor B connections
int enB = 3;
int in3 = 5;
int in4 = 4;

In setup section of code, all the motor control pins are declared as digital OUTPUT and pulled
LOW to turn both the motors OFF.
void setup()
{
// Set all the motor control pins to outputs
pinMode(enA, OUTPUT);
 pinMode(enB, OUTPUT);
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
pinMode(in3, OUTPUT);
pinMode(in4, OUTPUT);
// Turn off motors - Initial state
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
}
In loop section of the code, we call two user defined functions at an interval of a second.

void loop() {
directionControl();
delay(1000);
speedControl();
delay(1000);
}

These functions are:

Direction Control () – This function spins both motors forward at maximum speed for two
seconds. It then reverses the motor’s spinning direction and spins for another two seconds.
Finally it turns the motors off.

void directionControl() {
// Set motors to maximum speed
// For PWM maximum possible values are 0 to 255
analogWrite(enA, 255);
analogWrite(enB, 255);

// Turn on motor A & B

digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
delay(2000);
 // Now change motor directions
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
delay(2000);

// Turn off motors

digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
}

Speed Control () – This function accelerates both the motors from zero to maximum speed by
producing PWM signals using analogWrite() function, then it decelerates them back to zero.
Finally it turns the motors off.

void speedControl() {
// Turn on motors
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);

// Accelerate from zero to maximum speed

for (int i = 0; i < 256; i++) {
analogWrite(enA, i);
analogWrite(enB, i);
delay(20);
}

// Decelerate from maximum speed to zero

for (int i = 255; i >= 0; --i) {
analogWrite(enA, i);
analogWrite(enB, i);
delay(20);
}
 // Now turn off motors
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
}