Transcript Solar Jackets Motor Control

Andy Lian
Gabriel Miranda
Chris McManus
Drew Pearson
Andrew Perez
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Design motor control system for the Solar
Jackets solar racing vehicle
Continuing work from previous group
 Fall 2010
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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
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Effective cruise control
 Switch between serial and analog control
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Air gap adjustment and control
Effective load testing
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Dynamic control of motor air gap
Functional cruise control using SBC
Regenerative braking
Load testing
Communication 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)

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
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
All I/O except serial
interface lines
 Serial used to check
status of controller
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Brake Lights
Reverse Lights
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Configures controller
Provides all inputs
Checks controller
status
Brake Lights
Reverse Lights
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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
Inputs
IFM
SBC
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Responsibilities
 Automated motor
control
 Vehicle subsystem
communication

RS-485
 Battery Management
 Maximum Power Point Tracking
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USB
 Human-Machine Interface
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RS-485
 Battery Management
 Maximum Power Point Tracking

USB
 Human-Machine Interface

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
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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
•
•
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 cleaning
Preliminary load test strategy
Preliminary air gap control system specs
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Successful compilation of SBC code
Select air gap adjustment motor
Serial control of motor
Write cruise control algorithm
Load and test motor
Regenerative braking algorithm/setup
Communicate with other subsystems