Andy Lian Gabriel Miranda Chris McManus Drew Pearson Andrew Perez.
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Transcript of Andy Lian Gabriel Miranda Chris McManus Drew Pearson Andrew Perez.
Andy LianGabriel MirandaChris McManusDrew PearsonAndrew Perez
Design motor control system for the Solar Jackets solar racing vehicle
Continuing work from previous group Fall 2010
System responsibilities: Electric motor operation Central communication between vehicle
subsystems
Test bench construction Safety systems
designed and installed Functioning motor
control using serial and analog signals
Effective cruise control Switch between serial and analog control
Air gap adjustment and controlEffective load testing
Dynamic control of motor air gapFunctional cruise control using SBCRegenerative brakingLoad testingCommunication with vehicle
subsystems
Air gap between rotor and stator Adjustable while motor in use
▪ Increase air gap –> Increase top speed/Decrease torque
▪ Decrease air gap –> Decrease top speed/Increase torque
Need highest torque when gap is minimized▪ 35-40 in-lb (640 oz-in)
Stepper Motor Planetary Gear
Set Specs
▪ ~120 oz-in▪ 4.5” L x 3.2” H x
2.2” W▪ 12 VDC▪ SBC Control
Pricing▪ Motor: $227-$336▪ Gearbox: $452-
$589
Window Lift Motor
▪ FIRST Robotics Specs
▪ 82 in-lb▪ 12 VDC
Pricing▪ $60-$80
Pros Cons
Option 1 (Stepper Motor)
-SBC Control-Precise Control
-Price-Size-Need gearbox
Option 2 (Window Lift Motor)
-Compact Size-Price
-Hard to find info-Need encoder
Brake Lights
Reverse Lights
All I/O except serial interface lines
Serial used to check status of controller
Brake Lights
Reverse Lights
Configures controller
Provides all inputs Checks controller
status
Controller prevents change from serial to discrete or vice-versa while coasting
Proposed solution: Keep controller in serial mode Run inputs to SBC
IFM
SBC
Inputs
Responsibilities Automated
motor control Vehicle
subsystem communication
RS-485 Battery Management Maximum Power Point Tracking
USB Human-Machine Interface
RS-485 Battery Management Maximum Power Point Tracking
USB Human-Machine Interface
RS-485 Battery Management Maximum Power Point Tracking
USB Human-Machine Interface
Speed control mode Speed is represented by throttle pot voltage
▪ Full voltage represents full speed Braking is represented by regen pot voltage
Torque control mode Difference in pot voltages determines motor
phase current Motor phase current is proportional to
torque
Values exist in registers on motor controller
SBC routines include Cruise control Regenerative braking control Report motor condition to other
subsystems Respond to condition of other
subsystems
• Use motor-generator setup • Will provide
• Verification of motor and cruise control functionality
• Variable loading of motor
Previous test setup
Generator Added for load
testing Connected via
shaft
Variable load Mimic drive
cycles
With permission from Professor Habetler or Harley, we will conduct load testing in Van Leer Room W 139. We will receive help from Stefan Grubic
Successful operation of Fall 2010 motor setup
SBC code restructuring and cleaningPreliminary load test strategyPreliminary air gap control system
specs
Successful compilation of SBC codeSelect air gap adjustment motorSerial control of motorWrite cruise control algorithmLoad and test motorRegenerative braking
algorithm/setupCommunicate with other subsystems