Difference between revisions of "Lifefix"

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=assembly=
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*isolate (vibration and electrial) Aeon PC from LF chasis
 +
**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)
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==24 V supply==
 +
* requires 3 outputs:
 +
**direct (fused 2 amps?) connection to the PC
 +
**direct 1 amp fused connection to the charge amp  (would be nice if this was also switched - possibly a PB?)
 +
**high power connection to robot:
 +
*** connection though high power diode  (please build a cable with both red and black wires, diode on red, and with orientation label)
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*** followed by at least 0.1F 25V capacitor (w/
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*** followed by 15amp circuit breaker / switch
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*** follwed by watts up power meter (with load and source orentated correctly)
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*** followed by 5000uF cap
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*** followed by the FET board
 +
 +
 +
 
=components=
 
=components=
 
==communications==
 
==communications==

Revision as of 16:55, 24 January 2010

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assembly

  • isolate (vibration and electrial) Aeon PC from LF chasis
    • 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)

24 V supply

  • requires 3 outputs:
    • direct (fused 2 amps?) connection to the PC
    • direct 1 amp fused connection to the charge amp (would be nice if this was also switched - possibly a PB?)
    • high power connection to robot:
      • connection though high power diode (please build a cable with both red and black wires, diode on red, and with orientation label)
      • followed by at least 0.1F 25V capacitor (w/
      • followed by 15amp circuit breaker / switch
      • follwed by watts up power meter (with load and source orentated correctly)
      • followed by 5000uF cap
      • followed by the FET board


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

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