topics checkpoint 7: step+ telemetry robust wiring hw 2
TRANSCRIPT
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Topics
• Checkpoint 7: Step+ telemetry
• Robust wiring
• Quiz 2- motor model discussion
• HW 2 Simulation (due Fri 4/2)
• Progress report (due Fri 4/9)
• Motor Drive- Basic
• Quiz3- MOSFET 3/30
• Motor Drive- details
• Control Fundamentals1
EECS192 Lecture 9
Motor Drive Introduction
Mar. 16, 2021
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Checkpoint 7: Telemetry+ Step Response
Set up a step track. Suggest 1 m before step, 1 m after step (0.5m+0.5m ok). The
step should be 15 cm to the right or left.
C7.1 Basic step response. Live demo: show car drive past step and get back on
track. Stream state data over UDP for this run:
i) timestep (seconds)
ii) lateral error (cm or m)
iii) estimated velocity (m/s)
iv) commanded steering angle (rad or deg) and commanded ESC
C7.2 Plot state data with labelled axes. Report controller parameters used.
C7.3. Repeat C7.1 but with a better tuned or improved controller.
C7.4 Plot state data from C7.3 with labelled axes. Report controller parameters
used.
C7.5 All members must fill out the checkpoint survey before the checkoff close.
Completion is individually graded.
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Topics
• Checkpoint 7: Step+ telemetry
• Robust wiring
• Quiz 2- motor model discussion
• HW 2 Simulation (due Fri 4/2)
• Progress report (due Fri 4/9)
• Motor Drive- Basic
• Quiz3- MOSFET 3/30
• Motor Drive- details
• Control Fundamentals3
EECS192 Lecture 9
Motor Drive Introduction
Mar. 16, 2021
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Robust Wiring
www.Harnesscable.com www.saltlakecable.com
Flex vs stranded
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``A study of the fatigue properties of small diameter wires used in intramuscular electrodes’’ Journal of
biomedical materials research. 1991 May;25(5):589-608.
100 106
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Topics
• Checkpoint 7: Step+ telemetry
• Robust wiring
• Quiz 2- motor model discussion
• HW 2 Simulation (due Fri 4/2)
• Progress report (due Fri 4/9)
• Motor Drive- Basic
• Quiz3- MOSFET 3/30
• Motor Drive- details
• Control Fundamentals6
EECS192 Lecture 9
Motor Drive Introduction
Mar. 16, 2021
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EE192 Spring 2021 Quiz 2
Consider a DC permanent magnet motor (as used in your car). The car is
initially at rest. The motor is connected as shown below. Neglect battery and
switch resistance. Neglect motor inductance. Assume diode is ideal. Assume
motor resistance = 0.2 ohm, and that the car accelerates to 4 m/s in 2
seconds. Assume back EMF constant is 1V/(m/s). Assume time constant for
deceleration is 1 second. Switch turns on at 0 sec, off at 2 sec.
Complete the sketches below for motor current im, motor voltage Vm, and car
velocity.
+
-8v
+
Vm
-
SW
Motor
connection
Rm
+
Vm
-
im
+
Ve
-
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Topics
• Checkpoint 7: Step+ telemetry
• Robust wiring
• Quiz 2- motor model discussion
• HW 2 Simulation (due Fri 4/2)
• Progress report (due Fri 4/9)
• Motor Drive- Basic
• Quiz3- MOSFET 3/30
• Motor Drive- details
• Control Fundamentals9
EECS192 Lecture 9
Motor Drive Introduction
Mar. 16, 2021
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V-rep simulation- HW2
demo
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Topics
• Checkpoint 7: Step+ telemetry
• Robust wiring
• Quiz 2- motor model discussion
• HW 2 Simulation (due Fri 4/2)
• Progress report (due Fri 4/9)
• Motor Drive- Basic
• Quiz3- MOSFET 3/30
• Motor Drive- details
• Control Fundamentals11
EECS192 Lecture 9
Motor Drive Introduction
Mar. 16, 2021
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Progress Report Due Fri 4/9https://inst.eecs.berkeley.edu/~ee192/sp21/docs/progrpt.pdf
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Motor Electrical Model
Also- see motor worksheet……
Motor Electrical Model
Back EMF
Motor electromechanical behavior
+
VDS
-VGS
+
Vm
-
+
Ve
-
Rm
im
im = VBAT – ke qm
Rm
. +
Vm
-
+VBAT
Conclusion:
<im >=?
PWM and Motor Drive
Motor Resistance?
Peak current?
13
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Given: Rm = 0.1 ohms, Vbatt = 7.2 V, Rbat = 0.Vds = ? ➔ Ids = ? amps
MOSFETs and motor driveDriving MOSFETs and motor
(LiPo 11 V!)
14
+
VDS
-VGS
+
Vm
-
+VBAT
14
G = gate
D = Drain
S = Source
VDS=3.6V, IDS=?Load line
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Rm = 0.1 ohms, Vbatt = 7.2 V, Rbat = 0.Vds = 3.6V ➔ Ids = (7.2-3.6V)/(0.1 ohm) = 36 amps
Vgs =20VPtrans ~ 35 W
Vgs =6VPtrans ~ 72W
Driving MOSFETs and motor Key design points:
1) High Vgs better than low Vgs
2) Switch quickly
3) Make sure Vs=0 (big ground)
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Example Quiz 3 question
60W
VDS=0.5V, IDS=42A. Ptrans=21W, Pmotor=(42A)( 4.5V)
90%
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Topics
• Checkpoint 7: Step+ telemetry
• Robust wiring
• Quiz 2- motor model discussion
• HW 2 Simulation (due Fri 4/2)
• Progress report (due Fri 4/9)
• Motor Drive- Basic
• Quiz3- MOSFET 3/30
• Motor Drive- details
• Control Fundamentals17
EECS192 Lecture 9
Motor Drive Introduction
Mar. 16, 2021
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Motor Drive with UCC21222 gate driver
11v
LiPo
+
Vm
-
+
VDS
-
VGS
+
-
Details On board….
Checklist:
1) Emergency stop
2) Reset Protection
3) Snubbing18
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Driving MOSFETs and motor How to choose PWM frequency:
UCC21222 driver constraint
I Gate capacitance
5000 pF
(on board)
I = C dv/dt
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Driving MOSFETs and motor
CSD18542KTT Power MOSFET How to choose PWM frequency?
20
@10V , C=Q/V=57nC/10V = 5.7 nF
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Low side motor drive
+
VDS
-VGS
+
Vm
-
+VBAT
+
-10v
+ VL -
vDS0.1 ohm
SW
Lim
Rm
e+ -
2v
Snubber/flyback diode
What about motor inductance?
MOSFET body diode
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+
-10v
+ VL -
vDS0.1 ohm
SW
Lim
Rm
Assume ideal diode,
17 kHz
ideal switch, L= 100 mH.
Time constant t = 1 ms.
Steady state, constant velocity.
Initial rate:
V/L= +8x104 amp/sec
NOTE: breakdown of body diode
BVDSS = +60V (can damage device)
e
+ -
2v
SW
t
closed
im
VL
open
0
57 us20 us
10V
-(~BVDSS -10V +2V +.16V)=~-52.2V
1.6 amp
Motor+flywheel diode 22
tVDS
057 us20 us
BVDSS = ~60V
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+
-10v
+ VL -
vDS0.1 ohm
SW
Lim
Rm
Assume ideal diode,
ideal switch, L= 100 mH.
Time constant t = 1 ms.
Steady state,
constant velocity.
Assume imin = 5 amp
SW
t
closed
im
VL
open
0 57 us20 us
7.5V
e
+ -
2v
5 amp
6.5 amp
-2.65V
Snubber/flyback diode
Motor+flywheel diode 23Note: 25 kHz PWM reduces peak current
L di/dt = 7.5V L di/dt = -2.65V
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SW
t
closed
im
VL
open
0 57 us20 us
7.5V
5 amp
6.5 amp
-2.65V
+
-10v
+ VL -
vDS0.1 ohm
SW
Lim
Rm
e+ -
2v
Snubber/flyback diode
VDS = 10V - VDIODE
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H Bridge Concept
S1 S2 S3 S3 Function?
Off Off Off Off
On Off Off On
Off On On Off
On On Off Off
On Off On off
Off On Off on
Iforward
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H bridge11v
LiPo
+
Vm
-
Need protection logic!
11v LiPo
!!!!CAUTION!!!!
Software fries
hardware….
Need protection logic-
74HCxxx
Estop?26
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Topics
• Checkpoint 7: Step+ telemetry
• Robust wiring
• Quiz 2- motor model discussion
• HW 2 Simulation (due Fri 4/2)
• Progress report (due Fri 4/9)
• Motor Drive- Basic
• Quiz3- MOSFET 3/30
• Motor Drive- details
• Control Fundamentals27
EECS192 Lecture 9
Motor Drive Introduction
Mar. 16, 2021
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Control Synopsis
State equations:
Output equations:
Control Law (P):
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Control Synopsis
Control Law (P):
New state equations:
Zero Input Response (non-zero init condx):
Total Response (non-zero init condx) by convolution:
Step Response (zero init condx) by convolution:
a’=a – b kp b’ = b kp
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Control Synopsis- Discrete Time
Superposition of Step Responses
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Control Synopsis- Discrete Time
State equations:
Output equations:
Total Response (non-zero init condx) by convolution:
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Control Synopsis- Discrete Time
Control Law (P):
New state equations:
U(kT) = kp [r(kT) – x(kT)]
For stability:
Notes: stability depends on gain and T!
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Discrete Time Control
u[k] = kp*(r[k]-x[k]) Let x[k] = y[k]
e(t), u=kp e(t)
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Example control- discrete time
Watch out for delay!
Watch out for excess gain!
First order CT system
Let x = car velocity
Reference r=1 m/s unit step, k=3
e(t) = r(t) – x(t)
Let control input u[n]=3(r[n]-x[n]) = 3e[n],
T
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Topics
• Checkpoint 7: Step+ telemetry
• Robust wiring
• Quiz 2- motor model discussion
• HW 2 Simulation (due Fri 4/2)
• Progress report (due Fri 4/9)
• Motor Drive- Basic
• Quiz3- MOSFET 3/30
• Motor Drive- details
• Control Fundamentals35
EECS192 Lecture 9
Motor Drive Introduction
Mar. 16, 2021
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Extra Slides
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Wiring Notes: caution on Vgs
11v
LiPo+
Vm
-
+
VDS
-
VGS
+
-
Driving MOSFETs and motor
On board
Watch out for voltage drop in wires/PCB traces.
#22 wire: 50 mOhm/m
#12 wire: 5 mOhm/m37
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Driving MOSFETs and motor
38
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Low Side Drive example
11v
LiPo
+
Vm
-
UVLO = under voltage lockout = 9 V
Diode needed?
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UCC 21222 design details
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UCC 21222 internal details
UVLO: under voltage lockout (check data sheet)
DT: dead time useful for H Bridge
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11v
LiPo
+
Vm
-
42
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Digital Filtering
• Moving average
– y1[n] = (y[n-2]+y[n-1]+y[n])/3
• Median filter (outlier rejection)
• Notch filter (mechanical vibration)
– y[n] = (x[n-2]+2x[n-1]+x[n])/4
• Model based filtering (or Kalman filter)
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Moving Average vs. Median Filter
Example: motor brush noise, back EMF measurement
Time (ms)
{0,2,-1,4,0,2,1,1,20,1,0,2} ➔
{0,2,-1,2,0,1,1,1,1,1} 3 element median filter
{0,2, 0.3,1.7, 2, 1,1.3, 7.3, 7.3, 7,1…} 3 elem MA
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Latchup
Make sure Huzzah32 powered first,
before ESC,
before position encoder
LATCHUP!
Caution: input voltage from sensor may be greater than 0.3V when CPU is off
VDD = 0!
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Proportional + Integral
On board Anti-windup
P+I control: delta =kp e + ki (integral e)
P control: delta = kp e
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Feedforward
On board
1
2
3
4
5
r(x) =
2
3 4
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NATCAR NotesCones +2 second
Finish line:The start/finish line
will be marked with two 4-inch-
long segments of 1-inch-wide
white tape that are parallel to
the track with 1-inch spacing,
as shown in the figure below.
The car must automatically
stop within 6 feet of the finish
line after finishing the race.
A penalty of 4 seconds will be
added to the lap time for any
car that does not automatically
stop within the required region.
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From:
http://solutions.palomartechnologies.com/Portals/600
69/images//Wetting%20vs%20non-
wetting%20conditions-resized-600.JPG From:http://www.slagcoin.com/joystick/pcb_wiring/bond.png
EE192- Soldering Notes
•Oxide has lower energy than clean metal
•Higher energy surfaces attract molten solder
•Oxides have higher melting points than metals
•Oxides have lower thermal conductivity than
metals
•Flux helps to prevent oxide formation, but is an
insulator
Electronic Interconnect and Components
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NATCAR NotesCones +2 second
Finish line:The start/finish line
will be marked with two 4-inch-
long segments of 1-inch-wide
white tape that are parallel to
the track with 1-inch spacing,
as shown in the figure below.
The car must automatically
stop within 6 feet of the finish
line after finishing the race.
A penalty of 4 seconds will be
added to the lap time for any
car that does not automatically
stop within the required region.
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NATCAR Notes1. Car can start in region shown
(running start or avoid seeing stop
line…) up to ``several feet’’ behind
start/stop line
2. A running car can continue
running for consecutive laps. If car
is doing multiple laps without
stopping, 4 second penalty is
applied to intermediate laps.
The car must automatically stop
within 6 feet of the finish line after
finishing the race.
A penalty of 4 seconds will be
added to the lap time for any car
that does not automatically stop
within the required region.
Permitted
Start region