Difference between revisions of "RC08Brushless"
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− | 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. | + | 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. |
− | == | + | ==Tasks== |
− | *[ ] Finalize on a DSC | + | *[ ] Get the motor and begin playing with it |
− | *[ ] Choose MOSFETS | + | **[X] Call Maxon and get a recommendation on motor drivers (Note: Already have design for motor drivers) |
− | *[ ] Sample all the parts | + | **[X] Figure out max current draw. (10A starting current) |
− | *[ ] | + | **[X] Develop Model of Motor and get Frequency Response (Note: This is a task to be covered in firmware) |
− | + | **[X] Find and purchase Flat Flex Cable (FFC) connectors (Note: Found one) | |
+ | **[X] Purchase large mosfets for testing (Note: Test rig built and verified with drive motors) | ||
+ | **[X] Purchase Surfboard for mounting DSC | ||
+ | **[X] Build test rig | ||
+ | *[X] Finalize on a DSC (Note: No DSC this year. Doing it in logic) | ||
+ | *[X] Choose MOSFETS | ||
+ | *[X] Sample all the parts | ||
+ | *[X] Schematic Design | ||
*[ ] Build prototype | *[ ] Build prototype | ||
+ | *[ ] Prototype evaluation | ||
+ | **[ ] Verify current draw under load especially start-up | ||
+ | **[ ] Check if there is any temp rise in FETs in continuous operation | ||
+ | *[ ] Make necessary changes | ||
==Specifications== | ==Specifications== | ||
====Motor Controller Chip==== | ====Motor Controller Chip==== | ||
− | * | + | * '''Using an FPGA instead of a DSC''' |
− | + | * [[RC08BLDCMotorDrivers | Matrix of Potential Drivers]] | |
− | + | ||
− | |||
− | * | ||
− | |||
− | |||
− | |||
====MOSFET==== | ====MOSFET==== | ||
− | * | + | * '''See below for the parts to be used this year''' |
− | * | + | * NMOS and a PMOS |
− | * | + | * The FETS have to be able to handle 10A on current |
+ | * [[RC08MotorFETS | Matrix of Potential FETS]] | ||
==Schematics== | ==Schematics== | ||
− | + | <gallery> | |
+ | Image:RC_mot_drvr_08.jpg|Brushless Motor Driver Schematic | ||
+ | </gallery> | ||
+ | |||
==Parts== | ==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== | ==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== | ==Links== | ||
<br> | <br> | ||
*[[RoboCupElectrical|Electrical System]] | *[[RoboCupElectrical|Electrical System]] | ||
+ | * '''Motor Datasheet:''' [[Media:07_197_e.pdf]] | ||
+ | |||
+ | [[Category: RC Electrical]] | ||
+ | |||
+ | [[Category:2007-2008]] |
Latest revision as of 21:01, 24 May 2020
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.
Contents
Tasks
- [ ] Get the motor and begin playing with it
- [X] Call Maxon and get a recommendation on motor drivers (Note: Already have design for motor drivers)
- [X] Figure out max current draw. (10A starting current)
- [X] Develop Model of Motor and get Frequency Response (Note: This is a task to be covered in firmware)
- [X] Find and purchase Flat Flex Cable (FFC) connectors (Note: Found one)
- [X] Purchase large mosfets for testing (Note: Test rig built and verified with drive motors)
- [X] Purchase Surfboard for mounting DSC
- [X] Build test rig
- [X] Finalize on a DSC (Note: No DSC this year. Doing it in logic)
- [X] Choose MOSFETS
- [X] Sample all the parts
- [X] Schematic Design
- [ ] Build prototype
- [ ] Prototype evaluation
- [ ] Verify current draw under load especially start-up
- [ ] Check if there is any temp rise in FETs in continuous operation
- [ ] Make necessary changes
Specifications
Motor Controller Chip
- Using an FPGA instead of a DSC
- Matrix of Potential Drivers
MOSFET
- See below for the parts to be used this year
- NMOS and a PMOS
- The FETS have to be able to handle 10A on current
- Matrix of Potential FETS
Schematics
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
Part No. | Make | Package | ContIDS | MaxIDS | Rds | MaxVGS | Samples | Data Sheet |
---|---|---|---|---|---|---|---|---|
NTMS4503N N-Channel | ON Semi | SO-8 | 14 A | -- | -- | 28 V | Y | [1] |
NTMS10P02 P-Channel | ON Semi | SO-8 | 10 A | -- | -- | 20 V | Y | [2] |
Motor Connector
Hirose FH12-11S-1SH 11 position 1 mm pitch
Commutation
CW (looking along the shaft toward the motor)
HS 1 | HS 2 | HS 3 | Winding 1 | Winding 2 | 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)
HS 1 | HS 2 | HS 3 | Winding 1 | Winding 2 | 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
Links
- Electrical System
- Motor Datasheet: Media:07_197_e.pdf