Difference between revisions of "Lifefix"
From DIDEAS Wiki
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==communcations== | ==communcations== | ||
*isolated USB serial to charge amp : http://www.usbgear.com/USBG-SSRS1.html | *isolated USB serial to charge amp : http://www.usbgear.com/USBG-SSRS1.html | ||
+ | |||
==caps== | ==caps== | ||
− | * | + | *[http://search.digikey.com/scripts/DkSearch/dksus.dll?vendor=0&keywords=p10011-nd] 10011-ND] (digikey) 0.1F 25V $12.07 (WE HAVE 10 OF THESE ALREADY) |
− | *565-3323-ND (digikey) 0.1F 50V $20.71 (WE HAVE 3 of THESE) | + | *[565-3323-ND http://search.digikey.com/scripts/DkSearch/dksus.dll?vendor=0&keywords=565-3323-ND] (digikey) 0.1F 50V $20.71 (WE HAVE 3 of THESE) |
==power suppy== | ==power suppy== | ||
− | * | + | *[http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=285-1791-ND SWS600L-48] (48V 624W) - thin version untested - http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=285-1791-ND |
− | *SWS600L-24 (24V 648W 27A) - this version untested -http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=285-1742-ND | + | *[http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=285-1742-ND SWS600L-24] (24V 648W 27A) - this version untested -http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=285-1742-ND |
− | * | + | *[http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=285-1633-ND SWS60048] - (48V 600W) (present think supply) |
==powerwerx== | ==powerwerx== |
Revision as of 15:49, 19 January 2010
PF Users Navigation:
- PCB; Lifefix_users; Pf_users; benchtest_users; CalibFix Users; Hardware; Assembly ; iochan ;
- PCA : PCB ; AKENC SC/MC 218 ; FET 217 ; IMU219 ; Swifi ; Rev200_mods ; PCA Inventory
- Special Commands to the Ankle (PFCMD) : State Controller Commands; Motor Controller Commands; Python Examples; IMU Commands ;PFCMD_PY; Pf_calb_table_py; Virtual spring test; PF EEPROM
- DOC: Pf_users; Powerfoot Keyboard User Interface; Steps for Manual Tuning; "Dashboard" Program For Assisting with Tuning
- NEW (CEB) WIKI
- Torque Feedback Controller Guide
Contents
components
communcations
- isolated USB serial to charge amp : http://www.usbgear.com/USBG-SSRS1.html
caps
- [1] 10011-ND] (digikey) 0.1F 25V $12.07 (WE HAVE 10 OF THESE ALREADY)
- [565-3323-ND http://search.digikey.com/scripts/DkSearch/dksus.dll?vendor=0&keywords=565-3323-ND] (digikey) 0.1F 50V $20.71 (WE HAVE 3 of THESE)
power suppy
- SWS600L-48 (48V 624W) - thin version untested - http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=285-1791-ND
- SWS600L-24 (24V 648W 27A) - this version untested -http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=285-1742-ND
- SWS60048 - (48V 600W) (present think supply)
powerwerx
- 2 power meters : http://www.powerwerx.com/tools-meters/watts-up-meter-dc-inline.html
- splitters - http://www.powerwerx.com/powerpole-power-splitters/
- 6 way splitter - http://www.powerwerx.com/powerpole-power-splitters/ps-6aa-inline-6-way.html
- possibly this is better? : http://www.powerwerx.com/powerpole-power-splitters/rigrunner-4005.html
Power / Grounding
- ~48V to power copley and backdrive
- ~24V to power the PC
- ~24V to power the robot
- loadwasher case appears to be isolated from charge amp case and ground. (The load washer case does have electrical contact with the COAX outside.)
OLD
Copley supply voltage
- Peak motor input power : 25.2V * 30 amps = 756 watts
- torque advantage : 25k/7k = 3.57
- Maximum motor current = 30amps / 3.57 = 8.4amps
ir drop
- R = (450mohm + 160 mohm) * 3/4 (R of motor and inductors)
- IR = 3.4V
V=Ldi/dt
- L = (102uH + 160uH) * 3/4 = 200uH
- I=Io * sin(ft)
- f = 25krpm/60 * 2 elec cycles * 2pi = 5236 rads
- dI/dt=f * Io * cos(t) = f * Io (peak) = 5236 * 8.4 = 44e3 Amps/sec
- V = 200uH * 44e3 = 8.8V
back EMF
- EC30 speed const = 355 rpm/volt : 25000 = 70.4V
total supply
- total voltage = 70.4 + 3.4 + 8.8 = 82.6V
- max PWM = 96% (estimate) -> 86 volts needed on copley
What if only 4.2 amps at peak speed
- LdI/dt = 4.4V
- IR = 1.7V
- back EMF = 70.4VV
- total supply = 76.5/.96 = 79.7V
What if 4.2 amps at 23000 rpm
- LdI/dt = 4.05V
- IR = 1.7V
- back EMF = 64.8V
- total supply = 70.55/0.96 = 73.5V
Inductors
- [12 awg, 110uH, 70mohm air core]
- [12 awg, 80uH, 50mohm air core]
- [500 KHZ, 85uH, Isat=17A, PN: 323-18 (WCM323 series)]
- [PDF (Switcher as application) 100uH, Isat=13.0A]
- [Digikey 1KHZ : 100uH, 14A, 18mohm]
- [Digikey 1KHZ : 100uH, 14.4A, 25mohm]
Power Supplies
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