System integrity
From DIDEAS Wiki
RT.1
- Battery Voltage Monitor
- Verify that the voltage lays within a min-max range.
- Set a flag to run in a power saving mode (reduced pff or shorted leads)"
RT.2
- Battery Current Monitor
- Make sure that the RMS current is within an acceptable range.
RT.3
- Battery Power Monitor
- Make sure that the RMS battery power corresponds to the (vq,iq) prediction. Discrepancies will be used to detect excessive leakage or shoot through in the motor driver electronics.
RT.4
- Motor Position Integrity Monitor
- Verify that the incremental encoder used for position feedback and commutation has not drifted in relation to the single turn encoder measurement.
RT.5
- Motor Temperature Monitor
- Verify that the motor temperature is within an acceptable range.
- Regulate pff to keep the motor temperature below a preset high limit.
RT.6
- Drive Transmission Monitor
- Verify that motor torque production correlates with a series spring torque model--confirming assumptions about the linkage between theta, the output joint angle, and beta, the unloaded motor-position based prediction of output joint angle.
RT.7
- Shock Watch" Monitor
- Verify that force, torque and acceleration are within a prescribed range.
RT.8
- Power Supply Voltage Monitor
- Verify that MC key system voltages are within each's prescribed range.
- +12 volts
- +5 volts
- +3.3 volts digital
- +3.3 volts analog
- Verify SC key system voltages
- safety DSNS
- 3.3V digital
- 3.3 volts analog
- 3.0 volt reference
- 3.3V volts strain gauge