Lifefix

From DIDEAS Wiki
Jump to: navigation, search

PF Users Navigation:

Edit

assembly

  • isolate (vibration and electrical) Aeon PC from LF chassis
    • use vibration damping material and some sort of nylon screw - or rubber screw (a nylon screw seems as though it will allow for 1 side vibration still)
    • the Aeon PC connects the electrical negative to the chassis - possibly we don't want to connect the EARTH ground to the PC chassis??

fixture misc

  • attach 5" blower to fixture - blowing onto internal EC30 and to 24V supply between the circuit breaker and power meter
  • install limit switches - wire to Copley amplifier


24 V supply

Use SWS600L-24 (24V 648W 27A), adjust to 24.0 +- 0.2V

  • requires 3 outputs:
    • direct (fused 2 amps?) connection to the PC
    • direct 1 amp fused connection (use 2 wire red/black power inline fuse) to the charge amp (would be nice if this was also switched - possibly a PB?)
    • high power connection to robot (USE 14 AWG wire):
      • connect 100V high power diode to power supply (please build a powerpole cable with both red and black wires, diode on red, and with orientation label)
      • followed by at least 0.1F 25V capacitor (w/1000 ohm 10watt bleeder resistor)
      • followed by 15amp circuit breaker / switch
      • split the connection here and attached to blower motor(s)
      • followed by watts up power meter (with load and source orientated correctly)
      • followed by 5000uF, 50V cap
      • followed by the FET board


48V Copley supply

Use SWS600L-48 (48V 624W), adjust to 47.0 +- 0.4V

  • connect 100V high power diode to power supply(please build a powerpole cable with both red and black wires, diode on red, and with orientation label)
  • connect a 0.1F 50V capacitor (w 4000 ohm, 10 watt bleeder resistor)
  • connect a 10amp circuit breaker
  • connect a watts up power meter with correct load orientation
  • connect to Copley primary power input

24V Copley backup supply

  • attach 24V, 1amp supply to the AUX power inputs on the Copley amp. Will need to share a ground with the primary power input


Copley Motor connections

  • Attach a 3 pole DIN circuit breaker (15amp) to the 3 phase copley output
  • then each of the 3 phase Copley outputs needs to pass though a >90uH air-core, low resistance inductor. We have sleected a 110uH, 70mohm device from partsexpress.
  • then onto the backdrive EC30 motor

Robot motor connections

  • Attach a 3 pole DIN circuit breaker (15amp) to the 3 phase copley output
  • Then onto the internal robot motor

components

communications

caps

  • 10011-ND (digikey) 0.1F 25V solder terminal $12.07 (WE HAVE 10 OF THESE ALREADY)
  • 565-3310-ND 0.068F 25V SCREW terminal $10.24
  • 565-3323-ND (digikey) 0.1F 50V screwterminal $20.71 (WE HAVE 3 of THESE)

power suppy

fans / circuit breakers / fuse / misc

  • battery backup for copley?



breakers


blowers

powerwerx


inductors





















OLD

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.)

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

Power Supplies

Insert non-formatted text here

Retrieved from "https://mediawiki.dideas.com/index.php?title=Lifefix&oldid=6326"