RoboCup: Control Board 2011 - Revision history

Cwehmeyer3 at 02:34, 14 June 2018

2018-06-14T02:34:32Z

Rstrat6: fixed link

2016-01-29T21:35:29Z

fixed link

Rstrat6: Update dead link

2016-01-27T07:50:38Z

Update dead link

JonJones at 02:05, 24 January 2015

2015-01-24T02:05:11Z

JonJones at 01:58, 24 January 2015

2015-01-24T01:58:02Z

Show changes

JonJones at 05:26, 5 January 2015

2015-01-05T05:26:06Z

JonJones at 05:20, 5 January 2015

2015-01-05T05:20:41Z

JonJones at 05:20, 5 January 2015

2015-01-05T05:20:15Z

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JonJones at 04:57, 5 January 2015

2015-01-05T04:57:19Z

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JonJones: Undo revision 13392 by Mbarulic (talk)

2015-01-05T04:50:43Z

Undo revision 13392 by Mbarulic (talk)

@@ Line 24: / Line 24: @@
 [[File:RC EE three phase bridge 2011 c.png|thumb|left|250px|RC EE three phase bridge 2011 c.png]]
-A three-phase bridge ([[:File:RC EE three phase bridge 2011 c.png|figure 1]]) is the name of the circuit that is used to control each motor. The control signals for the motors come from the FPGA ([http://www.xilinx.com/support/index.html/content/xilinx/en/supportNav/silicon_devices/fpga/spartan-3e.html Spartan-3E Series]). The robot uses four (4) 30W three phase brushless motors to maneuver itself on the field. A fifth motor is also used for the dribbler. In order to operate each motor with the needed precision, a brushless motor driving circuit is used for every motor. The motors also contain [http://en.wikipedia.org/wiki/Hall_effect_sensor hall effect sensors]. These sensors send data back to the FPGA that is used to determine a rotational position. Each phase of a brushless motor is controlled using two (2) transistors. For this application, a MOSFET type transistor is used. Although MOSFET is the appropriate technical name, it is often shortened by simply saying FET. A p-channel MOSFET ([http://www.irf.com/product-info/datasheets/data/irf9310pbf.pdf IRF9310TRPBF]) is used to connect to +12V and a n-channel MOSFET ([http://www.irf.com/product-info/datasheets/data/irf8734pbf.pdf IRF8734TRPBF]) is used to connect to ground. The I/O pins from the FPGA could power the FETs directly, but this would result in a loss of performance (the FETs could not be in their best conduction mode). Therefore, a MOSFET Driver ([http://ww1.microchip.com/downloads/en/DeviceDoc/21422D.pdf TC4428]) is used in order to ''boost'' the signal for the gate on each FET.
+A three-phase bridge ([[:File:RC EE three phase bridge 2011 c.png|figure 1]]) is the name of the circuit that is used to control each motor. The control signals for the motors come from the FPGA ([http://www.xilinx.com/support/index.html/content/xilinx/en/supportNav/silicon_devices/fpga/spartan-3e.html Spartan-3E Series]). The robot uses four (4) 30W three phase brushless motors to maneuver itself on the field. A fifth motor is also used for the dribbler. In order to operate each motor with the needed precision, a brushless motor driving circuit is used for every motor. The motors also contain [http://en.wikipedia.org/wiki/Hall_effect_sensor hall effect sensors]. These sensors send data back to the FPGA that is used to determine a motor�s rotational position. Each phase of a brushless motor is controlled using two (2) transistors. For this application, a MOSFET type transistor is used. Although MOSFET is the appropriate technical name, it is often shortened by simply saying FET. A p-channel MOSFET ([http://www.irf.com/product-info/datasheets/data/irf9310pbf.pdf IRF9310TRPBF]) is used to connect to +12V and a n-channel MOSFET ([http://www.irf.com/product-info/datasheets/data/irf8734pbf.pdf IRF8734TRPBF]) is used to connect to ground. The I/O pins from the FPGA could power the FETs directly, but this would result in a loss of performance (the FETs could not be in their best conduction mode). Therefore, a MOSFET Driver ([http://ww1.microchip.com/downloads/en/DeviceDoc/21422D.pdf TC4428]) is used in order to ''boost'' the signal for the gate on each FET.
 === MOSFET Operation ===
@@ Line 43: / Line 43: @@
 === Single Motor Winding Circuit Explanation ===
-From [[:File:RC EE Motor Winding.png|figure 3]], ''OUTA'' is the inverting output and ''OUTB'' is non-inverting output (from the MOSFET Driver). ''Q7'' is the pMOS and ''Q8'' is the nMOS. The source of the pMOS is connected to ''VDD'' (+12V) and the drain is connected to one of the motor coils. In the nMOS, the source is connected to the motor coil while the drain is connected to ''GND''. When the signal from the FPGA is to activate one of the motor windings, ''M4C_H'' is high and ''M4C_L'' is low. So, ''OUTA'' becomes low while ''OUTB'' is still the same as ''INB''. This turns the pMOS on and the nMOS off. Doing so connects ''M4C'' to ''VDD'', thus ''M4C'' is set to high potential. At this same instant, a different motor winding circuit will connect its output to ''GND''. For example, say ''M4B'' (not shown) connects to ''GND'' when ''M4C'' connects to ''VDD''. This means current will flow from ''M4C'' to ''M4B'', thus powering the motor for a short instance of time. However, we must ensure that the 3rd motor winding circuit (M4A, also not shown) is disconnected from both ''VDD'' and ''GND''. This means both FETs from ''M4A'' must be off at this instance in time. ''R128'' is a resistor which limits the current from the I/O pin. ''R56'' and ''R57'' are pull-down resistors that ensure ''INA'' and ''INB'' maintain a proper value if there is no signal from the FPGA. ''R54'' and ''R55'' provide signal stability for the base of each FET (the voltage could oscillate back and forth without them). ''C26'' is used to filter out unwanted high frequencies from ''VDD''.
+From [[:File:RC EE Motor Winding.png|figure 3]], ''OUTA'' is the inverting output and ''OUTB'' is non-inverting output (from the MOSFET Driver). ''Q7'' is the pMOS and ''Q8'' is the nMOS. The source of the pMOS is connected to ''VDD'' (+12V) and the drain is connected to one of the motor coils. In the nMOS, the source is connected to the motor coil while the drain is connected to ''GND''. When the signal from the FPGA is to activate one of the motor windings, ''M4C_H'' is high and ''M4C_L'' is low. So, ''OUTA'' becomes low while ''OUTB'' is still the same as ''INB''. This turns the pMOS on and the nMOS off. Doing so connects ''M4C'' to ''VDD'', thus ''M4C'' is set to high potential. At this same instant, a different motor winding circuit will connect its output to ''GND''. For example, let�s say ''M4B'' (not shown) connects to ''GND'' when ''M4C'' connects to ''VDD''. This means current will flow from ''M4C'' to ''M4B'', thus powering the motor for a short instance of time. However, we must ensure that the 3rd motor winding circuit (M4A, also not shown) is disconnected from both ''VDD'' and ''GND''. This means both FETs from ''M4A'' must be off at this instance in time. ''R128'' is a resistor which limits the current from the FPGA�s I/O pin. ''R56'' and ''R57'' are pull-down resistors that ensure ''INA'' and ''INB'' maintain a proper value if there is no signal from the FPGA. ''R54'' and ''R55'' provide signal stability for the base of each FET (the voltage could oscillate back and forth without them). ''C26'' is used to filter out unwanted high frequencies from ''VDD''.
 [[File:RC EE Motor Winding.png|thumb|500px|RC EE Motor Winding.png]]
@@ Line 69: / Line 69: @@
 === Voltage Monitor for kicker ===
-The voltage monitor is a circuit used to measure the voltage at the output of the transformers, since they are in the range of 150V and is a cause of concern for safety if it is exceeded. The main component of the voltage monitor is the analog-to-digital converter, ''ADC081C027''. The type of architecture used in the ADC is an 8-bit Successive Approximation Register (SAR). In successive approximation, the ADC internally has a DAC, a comparator and 8-bit register. In one input of the comparator, the input signal is applied. For the other input, the SAR produces an 8 bit sequence with only the MSB as 1 and the rest of the digits as 0. The DAC then converts it into an analog signal. This analog signal is compared with the input signal. If the analog signal is greater than the input signal, then the SAR MSB is reset to zero else, it remains one. Then the next bit is set to one and this process continues for 8 steps till the input signal and analog signals are equal. So, now, the value in the SAR is the digital equivalent of the input signal. The L1 inductor and C8 capacitance act as a filter which removes the oscillations in the power supply. The serial clock (''SCK'') and serial data (''SDA'') communicate with the FPGA, so that the value is processed.
+The voltage monitor is a circuit used to measure the voltage at the output of the transformers, since they are in the range of 150V and is a cause of concern for safety if it is exceeded. The main component of the voltage monitor is the analog-to-digital converter, ''ADC081C027''. The type of architecture used in the ADC is an 8-bit Successive Approximation Register (SAR). In successive approximation, the ADC internally has a DAC, a comparator and 8-bit register. In one input of the comparator, the ADC�s input signal is applied. For the other input, the SAR produces an 8 bit sequence with only the MSB as 1 and the rest of the digits as 0. The DAC then converts it into an analog signal. This analog signal is compared with the input signal. If the analog signal is greater than the input signal, then the SAR MSB is reset to zero else, it remains one. Then the next bit is set to one and this process continues for 8 steps till the input signal and analog signals are equal. So, now, the value in the SAR is the digital equivalent of the input signal. The L1 inductor and C8 capacitance act as a filter which removes the oscillations in the power supply. The serial clock (''SCK'') and serial data (''SDA'') communicate with the FPGA, so that the value is processed.
 === LM2734 Switching Voltage Regulator ===
@@ Line 218: / Line 218: @@
 | Capacitor
+|
+| 1�F
 | 0603
 | C3, C31, C34
@@ Line 268: / Line 268: @@
 | Capacitor
+|
+| 10�F
 | 0805
 | C1
@@ Line 278: / Line 278: @@
 | Capacitor
+|
-| (Polarized)
+| 1�F (Polarized)
 | 0805
 | C41
@@ Line 288: / Line 288: @@
 | Capacitor
+|
+| 22�F
 | 1206
 | C44
@@ Line 298: / Line 298: @@
 | Capacitor
+|
-| (Polarized)
+| 100�F (Polarized)
 | Panasonic E
 | C42
@@ Line 308: / Line 308: @@
 | Capacitor
+|
-| (Polarized)
+| 470�F (Polarized)
 | Panasonic G
 | C4, C5, C7, C10, C14
@@ Line 935: / Line 935: @@
 | [http://www.nkkswitches.com/pdf/MtogglesAnglePC.pdf http://www.nkkswitches.com/pdf/MtogglesAnglePC.pdf]
 |}
-[[Category:RoboCup]] [[Category:Electrical]] [[Category:Year: 2013-2014|Year:_2013-2014]]
+[[Category:RoboCup]] [[Category: 2013-2014]]

@@ Line 473: / Line 473: @@
 | 25Hz bandwidth, I2C interface, Tri-axis
 | [http://www.digikey.com/product-detail/en/KXTF9-2050/1191-1000-1-ND/3137346 http://www.digikey.com/product-detail/en/KXTF9-2050/1191-1000-1-ND/3137346]
-| [http://www.kionix.com/sites/default/files/KXTF9-2050 Specifications Rev 7.pdf http://kionixfs.kionix.com/en/datasheet/KXTF9-2050%20Specifications%20Rev%207.pdf]
+| [http://kionixfs.kionix.com/en/datasheet/KXTF9-2050%20Specifications%20Rev%207.pdf http://kionixfs.kionix.com/en/datasheet/KXTF9-2050%20Specifications%20Rev%207.pdf]
 |-
 | 1
@@ Line 935: / Line 935: @@
 | [http://www.nkkswitches.com/pdf/MtogglesAnglePC.pdf http://www.nkkswitches.com/pdf/MtogglesAnglePC.pdf]
 |}
 [[Category:RoboCup]] [[Category:Electrical]] [[Category:Year: 2013-2014|Year:_2013-2014]]

@@ Line 473: / Line 473: @@
 | 25Hz bandwidth, I2C interface, Tri-axis
 | [http://www.digikey.com/product-detail/en/KXTF9-2050/1191-1000-1-ND/3137346 http://www.digikey.com/product-detail/en/KXTF9-2050/1191-1000-1-ND/3137346]
-| [http://www.kionix.com/sites/default/files/KXTF9-2050 Specifications Rev 7.pdf http://www.kionix.com/sites/default/files/KXTF9-2050%20Specifications%20Rev%207.pdf]
+| [http://www.kionix.com/sites/default/files/KXTF9-2050 Specifications Rev 7.pdf http://kionixfs.kionix.com/en/datasheet/KXTF9-2050%20Specifications%20Rev%207.pdf]
 |-
 | 1
@@ Line 936: / Line 936: @@
 |}
-<br/>
 [[Category:RoboCup]] [[Category:Electrical]] [[Category:Year: 2013-2014|Year:_2013-2014]]

@@ Line 1: / Line 1: @@
 <!-- INFO BOX -->{{RCEEInfoBox
-|year=2013
+|year=2011 - 2014
 |control_ver=2011 Rev c
 |mcu=Atmel [http://www.atmel.com/images/doc6175.pdf AT91SAM7S256]
 |fpga=Xilinx [http://www.xilinx.com/support/index.html/content/xilinx/en/supportNav/silicon_devices/fpga/spartan-3e.html Spartan-3E]
 |motors=Maxon EC45flat 30W
 }}
@@ Line 934: / Line 936: @@
 |}
-<br/><br/><br/>
+<br/>
 [[Category:RoboCup]] [[Category:Electrical]] [[Category:Year: 2013-2014|Year:_2013-2014]]

@@ Line 19: / Line 19: @@
 == Motor Operations ==
-[[File:RC EE three phase bridge 2011 c.png|thumb|left|250px|RC EE three phase bridge 2011 c.png]]
+[[File:RC EE three phase bridge 2011 c.png|thumb|left|250px]]
-A three-phase bridge ([[:File:RC EE three phase bridge 2011 c.png|figure 1]]) is the name of the circuit that is used to control each motor. The control signals for the motors come from the FPGA (XC3S100E). The robot uses 4 30W three phase brushless motors to maneuver itself on the field. A 5th motor is also used for the dribbler. In order to operate each motor with the needed precision, a brushless motor driving circuit is used for every motor. The motors also contain hall-the signal for the gate on each FET.
+A three-phase bridge ([[:File:RC EE three phase bridge 2011 c.png|figure 1]]) is the name of the circuit that is used to control each motor. The control signals for the motors come from the FPGA ([http://www.xilinx.com/support/index.html/content/xilinx/en/supportNav/silicon_devices/fpga/spartan-3e.html Spartan-3E Series]). The robot uses four (4) 30W three phase brushless motors to maneuver itself on the field. A fifth motor is also used for the dribbler. In order to operate each motor with the needed precision, a brushless motor driving circuit is used for every motor. The motors also contain [http://en.wikipedia.org/wiki/Hall_effect_sensor hall effect sensors]two (2) transistors. For this application, a MOSFET type transistor is used. Although MOSFET is the appropriate technical name, it is often shortened by simply saying FET. A p-channel MOSFET ([http://www.irf.com/product-info/datasheets/data/irf9310pbf.pdf IRF9310TRPBF]) is used to connect to +12V and a n-channel MOSFET ([http://www.irf.com/product-info/datasheets/data/irf8734pbf.pdf IRF8734TRPBF]) is used to connect to ground. The I/O pins from the FPGA could power the FETs directly, but this would result in a loss of performance (the FETs could not be in their best conduction mode). Therefore, a MOSFET Driver ([http://ww1.microchip.com/downloads/en/DeviceDoc/21422D.pdf TC4428]) is used in order to ''boost'' the signal for the gate on each FET.
 === MOSFET Operation ===
-[[File:RC EE Mosfet Diagram.png|thumb|right|400px]]
+[[File:RC EE Mosfet Diagram.png|thumb|right|400px|RC EE Mosfet Diagram.png]]
 A MOSFET or Metal-Oxide-Semiconductor Field-Effect Transistor, is basically a switch. There are 3 terminals: source, drain, and gate, and [[:File:RC EE Mosfet Diagram.png|figure 2]] outlines the physical layout of their relations. If you apply a voltage at the gate, this will allow a flow of charges from the source to the drain. These devices use metal oxides and the charges flow due to the effect of an electric field between the source and drain. Hence why they are called MOSFET. There are 2 types of MOSFETs, nMOSFET - where the majority of charge carriers are electrons - and pMOSFET - where the majority of charge carriers are holes. The gate-source voltage must be high (positive) to turn on a nMOS and low (negative) to turn on a pMOS. This voltage is refereed to as the threshold voltage and is defined in table 1 below. The pMOS is better at pulling the output high while nMOS is better at pulling the output low; Therefore, both MOSFETs are used in the motor driver circuit - they complement one another.
@@ Line 42: / Line 42: @@
-[[File:RC EE Motor Winding.png|thumb|500px|RC EE Motor Winding.png]]
+[[File:RC EE Motor Winding.png|thumb|500px]]
 === Debugging ===

@@ Line 23: / Line 23: @@
 *[[RoboCup Electrical 2014|RC Electrical 2014]]
 *[[RCFirmware|Firmware]]
-*[[Team Description Papers|Team Description Papers]] (all years)
+*[[Team Decription Paper|Team Description Papers]] (all years)
 <!-- MOTOR OPERATIONS -->