Difference between revisions of "Motor"
From DIDEAS Wiki
m |
(→Motor Controller) |
||
| (9 intermediate revisions by 2 users not shown) | |||
| Line 1: | Line 1: | ||
=Motor Controller= | =Motor Controller= | ||
| − | * support for Maxon EC30-48V [305015] with 500 CNT MR ENCODER [225778] | + | * primary support for Maxon EC30-48V [305015] with 500 CNT MR ENCODER [225778] |
** EC30-48V specs : L=65.3uH, R=386mohm, SpeedConst=346 rpm/volt, TorqueConst=27.6mNm/A | ** EC30-48V specs : L=65.3uH, R=386mohm, SpeedConst=346 rpm/volt, TorqueConst=27.6mNm/A | ||
** Required maximum RPM : 7500 | ** Required maximum RPM : 7500 | ||
| − | * 25.38V abs max supply voltage | + | * 25.38V abs max supply voltage (6 cell LiPoly) |
| − | * | + | * 50KHz to 100 KHz PWM |
| + | * suggest 30V MOSFETs (RJK0303DPB), 35V bulk ceramic caps, and 35V input DC-DC converter | ||
* Ability to (indefinably) short motor leads when primary power absent or if some sort of system failure | * Ability to (indefinably) short motor leads when primary power absent or if some sort of system failure | ||
| − | *dsPIC33FJ64MC506 for production, dsPIC33FJ128MC706 used in prototype | + | *suggest dsPIC33FJ64MC506 for production, dsPIC33FJ128MC706 used in prototype |
| − | + | * ISP Connector | |
| − | * | + | * Single PCB for controller? |
| + | * IIC EEPROM for controller parameters | ||
| + | * Ultra short and wide high current paths. | ||
| + | * Design for peak motor currents of 25 amps (100mS, less than 10% duty) | ||
| + | * Continuous motor currents of 5 amps | ||
| + | ==Off board interfaces== | ||
| + | ===POWER SUPPLY INPUT=== | ||
| + | * Wires (2x16 AWG, 1x22AWG) to enclose connector solder directly to holes adjacent to bulk bypass caps | ||
| + | * 3rd wire used to implement electronic delayed electronic (soft start) switch | ||
| − | == | + | ===MOTOR POWER OUTPUT=== |
| + | * Motor wires (3x18AWG) solder directly to holes adjacent to current sensor / MOSFET outputs | ||
| + | * chassis GND wire (1x22) solder directly hole adjacent to BAT- input | ||
| − | === Motor position | + | === Motor position sensors=== |
| − | * 5V quadrature with index (single ended or differential) | + | * 5V quadrature with index (single ended or differential ???) |
| − | * 5V hall effect sensor ( | + | ** MR encoders are differential and come with 10 pin ribbon cable and 2x5x0.1" header. |
| + | * 5V hall effect sensor open collector input (use 10K pull ups to 3.3V or 5V) | ||
=== power / data to Motor Controller === | === power / data to Motor Controller === | ||
| Line 23: | Line 35: | ||
* logic level output to indicate alert status | * logic level output to indicate alert status | ||
* battery power to motor controller | * battery power to motor controller | ||
| − | * | + | * sense path to battery for voltage monitoring |
| − | * | + | * board to board stacking connector (more reliable that wires) |
==On board sensors== | ==On board sensors== | ||
| + | * NOTE: Motor temp and battery voltage sensor moved to SM | ||
| + | * Battery current sensor kept local to facilitate electronic fuse. | ||
| + | * Is an electronic (battery) fuse necessary? | ||
| + | |||
===Motor Current=== | ===Motor Current=== | ||
| − | * Two motor current sensors (ACS712-20) | + | * Two motor current sensors (eg ACS712-20) (+-25amps peak) |
| + | * ??? First order LP filter at >= 20 KHz | ||
| + | |||
===Battery current monitor=== | ===Battery current monitor=== | ||
| − | *either ACS712-30 or external loop | + | * suggest either onboard (ACS712-30) or external current sensor loop |
* battery current monitor needed on this board if a hardware fuse circuit is to be implemented. However, this circuit could be implemented in software on either board. | * battery current monitor needed on this board if a hardware fuse circuit is to be implemented. However, this circuit could be implemented in software on either board. | ||
===AVCC5 monitor=== | ===AVCC5 monitor=== | ||
| − | * Measure AVCC5/2 | + | * Measure AVCC5/2 required if current sensors are ratio metric |
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | == | + | ==Low Power Support== |
| − | * | + | * Design for overall low power |
| − | * | + | * Target for sleep power of 5W (0.12WHr/day - from VBAT), (processor is sleeping @ 200uA) |
| − | * | + | * Control of supply to internal sensors : ACS712, battery monitor |
| − | * | + | * Control of supply to external sensors : motor encoder, motor hall sensors |
| − | + | * Control of supply to MOSFET drivers. | |
| − | |||
| − | * | ||
Latest revision as of 20:21, 18 September 2007
Contents
Motor Controller
- primary support for Maxon EC30-48V [305015] with 500 CNT MR ENCODER [225778]
- EC30-48V specs : L=65.3uH, R=386mohm, SpeedConst=346 rpm/volt, TorqueConst=27.6mNm/A
- Required maximum RPM : 7500
- 25.38V abs max supply voltage (6 cell LiPoly)
- 50KHz to 100 KHz PWM
- suggest 30V MOSFETs (RJK0303DPB), 35V bulk ceramic caps, and 35V input DC-DC converter
- Ability to (indefinably) short motor leads when primary power absent or if some sort of system failure
- suggest dsPIC33FJ64MC506 for production, dsPIC33FJ128MC706 used in prototype
- ISP Connector
- Single PCB for controller?
- IIC EEPROM for controller parameters
- Ultra short and wide high current paths.
- Design for peak motor currents of 25 amps (100mS, less than 10% duty)
- Continuous motor currents of 5 amps
Off board interfaces
POWER SUPPLY INPUT
- Wires (2x16 AWG, 1x22AWG) to enclose connector solder directly to holes adjacent to bulk bypass caps
- 3rd wire used to implement electronic delayed electronic (soft start) switch
MOTOR POWER OUTPUT
- Motor wires (3x18AWG) solder directly to holes adjacent to current sensor / MOSFET outputs
- chassis GND wire (1x22) solder directly hole adjacent to BAT- input
Motor position sensors
- 5V quadrature with index (single ended or differential ???)
- MR encoders are differential and come with 10 pin ribbon cable and 2x5x0.1" header.
- 5V hall effect sensor open collector input (use 10K pull ups to 3.3V or 5V)
power / data to Motor Controller
- logic level ASYNC 2-wire serial between master and motor controller CPUs
- logic level in to /FLTB (to disable PWM)
- logic level output to indicate alert status
- battery power to motor controller
- sense path to battery for voltage monitoring
- board to board stacking connector (more reliable that wires)
On board sensors
- NOTE: Motor temp and battery voltage sensor moved to SM
- Battery current sensor kept local to facilitate electronic fuse.
- Is an electronic (battery) fuse necessary?
Motor Current
- Two motor current sensors (eg ACS712-20) (+-25amps peak)
- ??? First order LP filter at >= 20 KHz
Battery current monitor
- suggest either onboard (ACS712-30) or external current sensor loop
- battery current monitor needed on this board if a hardware fuse circuit is to be implemented. However, this circuit could be implemented in software on either board.
AVCC5 monitor
- Measure AVCC5/2 required if current sensors are ratio metric
Low Power Support
- Design for overall low power
- Target for sleep power of 5W (0.12WHr/day - from VBAT), (processor is sleeping @ 200uA)
- Control of supply to internal sensors : ACS712, battery monitor
- Control of supply to external sensors : motor encoder, motor hall sensors
- Control of supply to MOSFET drivers.
