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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 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

Design Review


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Outline:

  • Overview

  • Design

  • Budget

  • Schedule

  • Q & A

Design Review


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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

Design Review


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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

Design Review


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Project Applications:

  • Foundation for future MSD projects

  • US First Robotics Competition

    - www.usfirst.org

    - Component in other research projects

Design Review


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Design:

PC104 Processing Platform

High Level Commands

Motor Commands

Motor Controller Circuit BoardStacked on PC104

Linux OS

Motor Controller Application

Design Review


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Design:

Onboard Clients

Future Projects

DAQ

ISA Bus

Motor Controller

Motor Systems

PC104 System

External Client Interface

Design Review


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Design: Operating System

  • Manage other project programs

  • Provide external client interface

  • Provide internal client interface

  • Memory management

  • ISA bus management

Design Review


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Current State of Design: Software

  • Software Design meets all customer requirements for system control.

  • Efficient Design

    • Condensed instruction set for motor control

    • Event based software system design

    • Reconfigurable client interface

Design Review


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Current State of Design: Hardware

  • Hardware Design meets customer versatility requirements.

  • Power system meets all PC104 and Motor controller power needs.

  • Efficient Design

    • Did not exceed the space limitations.

    • System can support multiple motors using only one hardware component.

Design Review


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Design:Risks

  • Collaboration across disciplines and teams.

  • Sharing of PC104 resources.

    • DAQ

  • Hardware and software interface

    • Interoperability, Control, Timing.

  • Circuit board fabrication risks

    • Design duration and unresolved manufacturing issues.

Design Review


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Design:Mitigations

  • Good inter-team organization and communications

  • Resource saving strategies

    • Application optimization

  • Specifications for resource management

  • Strategy for intersystem integration

    • Solid test planning

  • Early development of PCB layout

Design Review


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Budget: COG

Preliminary Build Cost: $724

PCB Fabrication: $204

Components: $112

Development Kits: $408

Design Review


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Budget:

$724

$326

$272

$68

Prototype

+

Development

Prototype

with shared

Power Board

Prototype

Production

Cost Per 10

Design Review


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Timeline:

Phase 0: Planning

Phase 1: Concept Development

Phase 2: System Level Design

Phase 3: Detailed Design

Phase 4a: Component Integration

Phase 4b: System Integration

MSD 1

MSD 2

0

1

2

3

4a

4b

Alpha build

Current phase of development

Prototype

Design Review


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MSD2 Milestones:

  • Dec 08: Finalize full system design.

  • Dec 15: Begin Prototyping and finalize Layout.

  • Jan 19: Functional alpha prototype.

  • Jan 29: Design testing complete, begin verification.

  • Feb 09: Verifying design results.

  • Feb 16: Finalize documentation.

  • Feb 23: Final Project Review.

Design Review


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Questions?

Design Review


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