msd p07302design review1 motor controller subsystem msd p07302 project sponsor: kgcoe project...
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MSD P07302 Design Review 1
Motor Controller SubsystemMSD P07302
Project Sponsor: KGCOE
Project Members:D. Shenoy Project ManagerS. Tallau Software DesignM. Oesterling Hardware DesignL. DeSnots Signal ConditioningA. Karani Hardware LayoutR. Gupta Power DesignR. Cooper Hardware Design
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Outline:
Overview
Design
Budget
Schedule
Q & A
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Project Description:
- An open source motor controller that is
- ScalableScalable: support for various vehicle platforms
- ReusableReusable: modular design
- ProgrammableProgrammable: reconfigurable functionality
- ReliableReliable
- Must be able to sense, control and drive several motors
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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 90 mm
96 mm
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Project Applications:
- Foundation for future MSD projects
- US First Robotics Competition - www.usfirst.org
- Component in other research projects
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Design:
PC104 Processing Platform
Linux OSMotor Controller Application
Motor Controller Circuit BoardStacked on PC104
Motor Commands
High Level Commands
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Design:
PC104 System
ISA
Bus
Motor Controller Motor Systems
DAQ
Future Projects
External Client Interface
Onboard Clients
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Design: Operating System
• Manage other project programs
• Provide external client interface
• Provide internal client interface
• Memory management
• ISA bus management
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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
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• 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.
Current State of Design: Hardware
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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.
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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
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Budget: COGPreliminary Build Cost: $724
Development Kits: $408Components: $112
PCB Fabrication: $204
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Budget:
$724
$326 $272
$68
Prototype +
Development
Production Cost Per 10
PrototypePrototype with shared Power Board
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Timeline:
MSD 1 MSD 2
Current phase of development
0 1 2 3 4a 4b
Alpha build
Prototype
Phase 0: Planning
Phase 1: Concept Development
Phase 2: System Level Design
Phase 3: Detailed Design
Phase 4a: Component Integration
Phase 4b: System Integration
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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.
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Questions?