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Motor Controller Subsystem MSD P07302

Motor Controller Subsystem MSD P07302. Project Sponsor: KGCOE. Project Members: D. Shenoy Project Manager S. Tallau Software Design M. Oesterling Hardware Design L. DeSnots Signal Conditioning A. Karani Hardware Layout R. Gupta Power Design R. Cooper Hardware Design.

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Motor Controller Subsystem MSD P07302

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  1. Motor Controller SubsystemMSD P07302 Project Sponsor: KGCOE Project Members: D. Shenoy Project Manager S. Tallau Software Design M. Oesterling Hardware Design L. DeSnots Signal Conditioning A. Karani Hardware Layout R. Gupta Power Design R. Cooper Hardware Design End of Project Review

  2. Outline: • Overview • Customer Needs • Design • Project Strengths/Weaknesses • Future Improvements • Q & A End of Project Review

  3. Project Description: • An open source motor controller that is • Scalable: support for various vehicle platforms • Reusable: modular design • Programmable: reconfigurable functionality • Reliable • Must be able to sense, control and drive several motors using the CAN protocol. End of Project Review

  4. Project Applications: • - Foundation for future MSD projects • - US First Robotics Competition - www.usfirst.org - Component in other research projects End of Project Review

  5. Product Specifications: • PC104 form factor • Maximum CPU usage of 25% • 12V DC power supply • One hour run-time • Scalable motor controller • 10, 100, 1000 kg platforms 96 mm 90 mm End of Project Review

  6. Design: PC104 system Motor Controller PCB PC104 Power PCB Runs the main motor controller software system. The PC104 system operates using a “minimal” Linux operating system. Contains the necessary components required to communicate with the motors using the CAN protocol. Contains the power circuitry to provide the PC104 with the required power to operate. End of Project Review

  7. Design: • Motor Controller and Power PCB can stack vertically on the PC104 platform • All boards conform to the specified PC104 form factor • Standard Connectivity (DB9 CAN connection) P07302: Motor Controller Subsystem End of Project Review

  8. Rx CAN Controller CAN Transceiver CPLD PC104 Tx ISA bus SPI bus Design: Motor Controller Data Flow: PC104 Contains C Program to issue motor commands CPLD  VHDL code implementing ISA and SPI. Handles Communication and Data between the PC104 and CAN. CAN Controller  IC that handles CAN Data CAN Transceiver Sends and Receives CAN packets End of Project Review

  9. Design: End of Design • Software System • Instruction-Set Implementation • Menu-based Interface • Polling-based I/O • CPU Usage < 10% End of Project Review

  10. Design: End of Design • Hardware System • Protocol Functionality • ISA Bus • SPI Controller (CPLD) • CAN Controller/Transceiver • Optional PWM Generator End of Project Review

  11. Design: End of Design Cost • Controller PCB Cost • $166.50 each for prototype • $75.60 each for ten • $27.41 each for fifty End of Project Review

  12. Design: End of Design Cost • Power Board PCB Cost (Estimated) • $130 each for prototype • $50 each for ten • $20 each for fifty • IC Cost (for both boards) • $570 for prototype End of Project Review

  13. Design Weaknesses • PC104 Constraint • Number of Protocols • ISA  SPI  CAN • Concurrent Project Development • Inter-Project Dependence • High Level of VHDL Complexity End of Project Review

  14. DesignStrengths • Future Development Potential • Modular Design • Extensible • Software • Easily Reconfigurable • Open Source End of Project Review

  15. DesignStrengths • Hardware • Reconfigurable and Programmable CPLD • Open Source • CAN Controller and CPLD Allow for Added Functionality End of Project Review

  16. Future Improvements • Interrupt Handling • Integration of Battery Power • Real-time Control and Feedback • User Input • Application Interface • Control and Drive Several Types of Vehicles End of Project Review

  17. Questions? End of Project Review

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