Difference between revisions of "RC08Brushless"

From RoboJackets Wiki
Jump to navigation Jump to search
 
 
(34 intermediate revisions by 5 users not shown)
Line 1: Line 1:
−
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. There are two design paths: one with a special purpose controller, and one with a CPLD as the controller. On this page you will find information about both. For information on the motors or motor control software please see their respective pages.
+
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.
  
−
==Task==
+
==Tasks==
−
*[ ] Finalize on a DSC
+
*[ ] Get the motor and begin playing with it
−
*[ ] Choose Half-Bridge Drivers
+
**[X] Call Maxon and get a recommendation on motor drivers (Note: Already have design for motor drivers)
−
*[ ] Set-up test-bed
+
**[X] Figure out max current draw. (10A starting current)
−
*[ ] Build prototype system
+
**[X] Develop Model of Motor and get Frequency Response (Note: This is a task to be covered in firmware)
−
*[ ] Choose CPLD
+
**[X] Find and purchase Flat Flex Cable (FFC) connectors (Note: Found one)
−
*[ ] Choose MOSFET Drivers
+
**[X] Purchase large mosfets for testing (Note: Test rig built and verified with drive motors)
−
*[ ] Build 2nd prototype
+
**[X] Purchase Surfboard for mounting DSC
−
*[ ] Choose final solution
+
**[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'''
 +
* [[RC08BLDCMotorDrivers | Matrix of Potential Drivers]]
  
−
==Specifications==
+
====MOSFET====
−
* We are using the same batteries so it has to be a 9V system
+
* '''See below for the parts to be used this year'''
−
* A decent transient response (This will be a function of hardware and software)
+
* NMOS and a PMOS
−
* 6 MOSFETs per motor and the ability to control each
+
* The FETS have to be able to handle 10A on current
−
* Braking is not a requirement but would be nice (We could just as easily do it software)
+
* [[RC08MotorFETS | Matrix of Potential FETS]]
−
* High Impedance OFF state
 
−
* Ability to operate in the >20kHz
 
  
 
==Schematics==
 
==Schematics==
−
Schematics
+
<gallery>
 +
Image:RC_mot_drvr_08.jpg|Brushless Motor Driver Schematic
 +
</gallery>
 +
 
 
==Parts==
 
==Parts==
−
====DSC====
+
We are performing commutation on the FPGA with gate drivers.
−
====CPLDS====
+
 
−
====Half-Bridges====
+
===Gate Driver===
−
====MOSFET Drivers====
+
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.

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

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

  • Brushless Motor Driver Schematic

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:

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


Retrieved from "https://wiki.robojackets.org/index.php?title=RC08Brushless&oldid=19335"