RC09KickerElectronics

2009-03-01T20:25:40Z

Benj:

==Caps==
We are gonna shoot for between 4000-5000uF by using '''two''' of the following
* [http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=P13835-ND EET-UQ2E222LA]
* [http://www.panasonic.com/industrial/components/pdf/EE127_UQ_TS_DNE.pdf datasheet]

==Electronics==
Kicker electronics will be similar to previous years

Candidate IGBT: [http://www.fairchildsemi.com/pf/FG/FGA180N33ATD.html Fairchild FGA180N33ATDTU]

==Solenoid==
See the [[SolenoidDevelopment| Solenoid Development]] page for more information. For logistics reasons, we may purchase a solenoid as we did last year and take it apart for use in our mounting apparatus.

Candidate winding: 22AWG from http://www.solenoidcity.com/solenoid/tubular/s-20-125hp1.htm

RC09KickerElectronics

2009-03-01T20:22:49Z

Benj: /* Electronics */

RoboCup Simulator

2008-10-17T00:50:23Z

Benj:

==64 bit==
* perform the following actions to be able to compile for a 64bit system
# ''sudo dpkg -i --force-architecture libphysx-*''
# ''sudo aptitude install libc6-dev-i386''
# ''sudo aptitude install g++-multilib''
# ''sudo aptitude install ia32-libs''
# make symbolic links to libraries in /usr/lib32
#* ''ln -s libQtOpenGL.so.4 libQtOpenGL.so''
#* ''ln -s libQtCore.so.4 libQtCore.so''
#* ''ln -s libQtGui.so.4 libQtGui.so''
#* ''ln -s libQtXml.so.4 libQtXml.so''
#* ''ln -s libQtNetwork.so.4 libQtNetwork.so''
#* ''ln -s libGLU.so.1 libGLU.so''
#* ''ln -s libGL.so.1 libGL.so''
#* ''ln -s libXext.so.6 libXext.so''
#* ''ln -s libX11.so.6 libX11.so''

RC08Brushless

2008-03-03T22:44:48Z

Benj:

In 2008 RoboCup switched to brushless DC motors. While brushless motors are smaller and far more efficient than brushed motors the commutation normally performed inside a brushed DC motor will need to be done externally using some control circuitry. There are two main parts to our brushless motor controller solution; the controller which uses sensors on the motor to gate signals to one of three coils, and the half-bridge motor drivers which actually drive the coils.For the controller a special-purpose brushless motor driver IC was used. For information on the motors or motor control software please see their respective pages.

==Motor Frequency Analysis==

==Tasks==
*[ ] Get the motor and begin playing with it
**[X] Call Maxon and get a recommendation on motor drivers (They spec parts not sure which drivers they use)
**[X] Figure out max current draw. (10A starting current)
**[ ] Develope Model of Motor and get Frequency Response
**[ ] Find and purchase Flat Flex Cable (FFC) connectors
**[ ] Purchase large mosfets for testing
**[ ] Purchase Surfboard for mounting DSC
**[ ] Build test rig
*[ ] Finalize on a DSC
*[ ] Choose MOSFETS
*[ ] Sample all the parts
*[ ] Schematic Design
*[ ] Build prototype
*[ ] Prototype evaluation
*[ ] Make necessary changes

==Specifications==
====Motor Controller Chip====
* The motor is spec'd at 12V and is 30W
* A decent transient response (dead-time + switching time)
* 3-Channels in one package
* Braking is not a requirement but would be nice
* High Impedance OFF state
* Fault protection (overvoltage, overcurrent, fast response)
* Small package
* Ability to operate in the >20kHz range
* Gate drive capability (either can directly driver the gate or is open drain.)
* Data sheet recommends a MOSFET
* [[RC08BLDCMotorDrivers | Matrix of Potential Drivers]]

====MOSFET====
* NMOS and a PMOS
* The FETS have to be able to handle 10A drain current
* [[RC08MotorFETS | Matrix of Potential FETS]] Other FETs we considered

==Schematics==
<gallery>
Image:RC_mot_drvr_08.jpg|Brushless Motor Driver Schematic
</gallery>

==Parts==
We are performing commutation on the FPGA with gate drivers.

===Gate Driver===
Microchip TC4428
* 1.5 A
* 6 mA quiescent
* Noninverting low side
* Inverting high side

===FETS===
{| style="text-align:center;" cellspacing ="0" cellpadding="1"

|-
! style="border:0.5px solid black; border-bottom=0px; background:white;" | Part No.
| style="border:0.5px solid black; border-bottom=0px; background:white;" | '''Make'''
| style="border:0.5px solid black; border-bottom=0px; background:white;" | '''Package'''
| style="border:0.5px solid black; border-bottom=0px; background:white;" | '''ContIDS'''
| style="border:0.5px solid black; border-bottom=0px; background:white;" | '''MaxIDS'''
| style="border:0.5px solid black; border-bottom=0px; background:white;" | '''Rds'''
| style="border:0.5px solid black; border-bottom=0px; background:white;" | '''MaxVGS'''
| style="border:0.5px solid black; border-bottom=0px; background:white;" | '''Samples'''
| style="border:0.5px solid black; border-bottom=0px; background:white;" | '''Data Sheet'''
|-
! style="border:0.5px solid black; border-bottom=0px; background:white;" | NTMS4503N N-Channel
| style="border:0.5px solid black; border-bottom=0px; background:white;" | ON Semi
| style="border:0.5px solid black; border-bottom=0px; background:white;" | SO-8
| style="border:0.5px solid black; border-bottom=0px; background:white;" | 14 A
| style="border:0.5px solid black; border-bottom=0px; background:white;" | --
| style="border:0.5px solid black; border-bottom=0px; background:white;" | --
| style="border:0.5px solid black; border-bottom=0px; background:white;" | 28 V
| style="border:0.5px solid black; border-bottom=0px; background:white;" | Y
| style="border:0.5px solid black; border-bottom=0px; background:white;" | [http://www.onsemi.com/pub/Collateral/NTMS4503N-D.PDF]

|-
! style="border:0.5px solid black; border-bottom=0px; background:white;" | NTMS10P02 P-Channel
| style="border:0.5px solid black; border-bottom=0px; background:white;" | ON Semi
| style="border:0.5px solid black; border-bottom=0px; background:white;" | SO-8
| style="border:0.5px solid black; border-bottom=0px; background:white;" | 10 A
| style="border:0.5px solid black; border-bottom=0px; background:white;" | --
| style="border:0.5px solid black; border-bottom=0px; background:white;" | --
| style="border:0.5px solid black; border-bottom=0px; background:white;" | 20 V
| style="border:0.5px solid black; border-bottom=0px; background:white;" | Y
| style="border:0.5px solid black; border-bottom=0px; background:white;" | [http://www.onsemi.com/pub/Collateral/NTMS10P02R2-D.PDF]
|}

===Motor Connector===
Hirose FH12-11S-1SH 11 position 1 mm pitch

===Commutation===
CW (looking along the shaft toward the motor)
{| {{table}}
| align="center" style="background:#f0f0f0;"|'''HS 1'''
| align="center" style="background:#f0f0f0;"|'''HS 2'''
| align="center" style="background:#f0f0f0;"|'''HS 3'''
| align="center" style="background:#f0f0f0;"|'''Winding 1'''
| align="center" style="background:#f0f0f0;"|'''Winding 2'''
| align="center" style="background:#f0f0f0;"|'''Winding 3'''
|-
| 1||0||1||Vcc||Gnd||n.c.
|-
| 1||0||0||Vcc||n.c.||Gnd
|-
| 1||1||0||n.c||Vcc||Gnd
|-
| 0||1||0||Gnd||Vcc||n.c.
|-
| 0||1||1||Gnd||n.c.||Vcc
|-
| 0||0||1||n.c.||Gnd||Vcc
|-
|
|}

CCW (looking along the shaft toward the motor)
{| {{table}}
| align="center" style="background:#f0f0f0;"|'''HS 1'''
| align="center" style="background:#f0f0f0;"|'''HS 2'''
| align="center" style="background:#f0f0f0;"|'''HS 3'''
| align="center" style="background:#f0f0f0;"|'''Winding 1'''
| align="center" style="background:#f0f0f0;"|'''Winding 2'''
| align="center" style="background:#f0f0f0;"|'''Winding 3'''
|-
| 1||0||1||Gnd||Vcc||n.c.
|-
| 1||0||0||Gnd||n.c.||Vcc
|-
| 1||1||0||n.c||Gnd||Vcc
|-
| 0||1||0||Vcc||Gnd||n.c.
|-
| 0||1||1||Vcc||n.c.||Gnd
|-
| 0||0||1||n.c.||Vcc||Gnd
|-
|
|}

To find this data:
* Go to https://support.maxonmotor.com/
* Guest Login
* Search for commutation sequence
* First link is "Block Commutation Sequence of maxon EC motors"

I duplicated the tables here because the text on the site is generated by Javascript, the frame URL contains a session ID, and the back button doesn't work.

==Articles==
[http://www.engin.umich.edu/group/ctm/examples/motor/motor.html Modeling a DC motor]
[http://www.mathworks.com/matlabcentral/fileexchange/loadFile.do?objectId=5042 Brush-Less Motor Simulink]

==Links==
<br>
*[[RoboCupElectrical|Electrical System]]
* '''Motor Datasheet:''' [[Media:07_197_e.pdf]]

RoboJackets Wiki - User contributions [en]

RC09KickerElectronics

RC09KickerElectronics

RoboCup Simulator

RC08Brushless