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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 Design Review

  2. Outline: • Overview • Design • Budget • Schedule • Q & A Design 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 Design Review

  4. 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

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

  6. Design: PC104 Processing Platform High Level Commands Motor Commands Motor Controller Circuit BoardStacked on PC104 Linux OS Motor Controller Application Design Review

  7. Design: Onboard Clients Future Projects DAQ ISA Bus Motor Controller Motor Systems PC104 System External Client Interface Design Review

  8. Design: Operating System • Manage other project programs • Provide external client interface • Provide internal client interface • Memory management • ISA bus management Design Review

  9. 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

  10. 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

  11. 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

  12. 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

  13. Budget: COG Preliminary Build Cost: $724 PCB Fabrication: $204 Components: $112 Development Kits: $408 Design Review

  14. Budget: $724 $326 $272 $68 Prototype + Development Prototype with shared Power Board Prototype Production Cost Per 10 Design Review

  15. 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

  16. 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

  17. Questions? Design Review

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