andy lian gabriel miranda chris mcmanus drew pearson andrew perez
TRANSCRIPT
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Andy LianGabriel MirandaChris McManusDrew PearsonAndrew Perez
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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
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Test bench construction Safety systems
designed and installed Functioning motor
control using serial and analog signals
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Effective cruise control Switch between serial and analog control
Air gap adjustment and controlEffective load testing
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Dynamic control of motor air gapFunctional cruise control using SBCRegenerative brakingLoad testingCommunication with vehicle
subsystems
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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)
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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
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Window Lift Motor
▪ FIRST Robotics Specs
▪ 82 in-lb▪ 12 VDC
Pricing▪ $60-$80
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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
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Brake Lights
Reverse Lights
All I/O except serial interface lines
Serial used to check status of controller
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Brake Lights
Reverse Lights
Configures controller
Provides all inputs Checks controller
status
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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
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Responsibilities Automated
motor control Vehicle
subsystem communication
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RS-485 Battery Management Maximum Power Point Tracking
USB Human-Machine Interface
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RS-485 Battery Management Maximum Power Point Tracking
USB Human-Machine Interface
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RS-485 Battery Management Maximum Power Point Tracking
USB Human-Machine Interface
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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
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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
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• Use motor-generator setup • Will provide
• Verification of motor and cruise control functionality
• Variable loading of motor
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Previous test setup
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Generator Added for load
testing Connected via
shaft
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Variable load Mimic drive
cycles
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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
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Successful operation of Fall 2010 motor setup
SBC code restructuring and cleaningPreliminary load test strategyPreliminary air gap control system
specs
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Successful compilation of SBC codeSelect air gap adjustment motorSerial control of motorWrite cruise control algorithmLoad and test motorRegenerative braking
algorithm/setupCommunicate with other subsystems
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