Revision as of 15:46, 19 January 2010

PF Users Navigation:

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• 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

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components

communcations

• isolated USB serial to charge amp : http://www.usbgear.com/USBG-SSRS1.html

caps

• P10011-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)

power suppy

• SWS600l-48 (624W) - thin version untested - http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=285-1791-ND
• SWS600L-24 (648W 27A) - this version untested -http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=285-1742-ND

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

• [54V-80V, 500W DIN rail]

• [Open frame unregulated linear $204]

• [28.8-40V 8.7A 313W $125 ]
• [40-57V 6.7A 321W $125]

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