Andy Lian Gabriel Miranda Chris McManus Drew Pearson Andrew Perez

 Design motor control system for the Solar Jackets solar racing vehicle  Continuing work from previous group  Fall 2010  System responsibilities:  Electric motor operation  Central communication between vehicle subsystems

 Test bench construction  Safety systems designed and installed  Functioning motor control using serial and analog signals

 Effective cruise control  Switch between serial and analog control  Air gap adjustment and control  Effective load testing

 Dynamic control of motor air gap  Functional cruise control using SBC  Regenerative braking  Load testing  Communication with vehicle subsystems

 Air gap between rotor and stator  Adjustable while motor in use ▪ Increase air gap –> Increase top speed/Decrease torque ▪ Decrease air gap –> Decrease top speed/Increase torque  Need highest torque when gap is minimized ▪ in-lb (640 oz-in)

 Stepper Motor  Planetary Gear Set  Specs ▪ ~120 oz-in ▪ 4.5” L x 3.2” H x 2.2” W ▪ 12 VDC ▪ SBC Control  Pricing ▪ Motor: $227-$336 ▪ Gearbox: $452-$589

 Window Lift Motor ▪ FIRST Robotics  Specs ▪ 82 in-lb ▪ 12 VDC  Pricing ▪ $60-$80

ProsCons Option 1 (Stepper Motor) -SBC Control -Precise Control -Price -Size -Need gearbox Option 2 (Window Lift Motor) -Compact Size -Price -Hard to find info -Need encoder

 All I/O except serial interface lines  Serial used to check status of controller

 Configures controller  Provides all inputs  Checks controller status

 Controller prevents change from serial to discrete or vice-versa while coasting  Proposed solution:  Keep controller in serial mode  Run inputs to SBC IFMSBC Inputs

 Responsibilities  Automated motor control  Vehicle subsystem communication

 RS-485  Battery Management  Maximum Power Point Tracking  USB  Human-Machine Interface

 RS-485  Battery Management  Maximum Power Point Tracking  USB  Human-Machine Interface

 RS-485  Battery Management  Maximum Power Point Tracking  USB  Human-Machine Interface

 Speed control mode  Speed is represented by throttle pot voltage ▪ Full voltage represents full speed  Braking is represented by regen pot voltage  Torque control mode  Difference in pot voltages determines motor phase current  Motor phase current is proportional to torque

 Values exist in registers on motor controller  SBC routines include  Cruise control  Regenerative braking control  Report motor condition to other subsystems  Respond to condition of other subsystems

Use motor-generator setup Will provide Verification of motor and cruise control functionality Variable loading of motor

 Previous test setup

 Generator  Added for load testing  Connected via shaft

 Variable load  Mimic drive cycles

 With permission from Professor Habetler or Harley, we will conduct load testing in Van Leer Room W 139.  We will receive help from Stefan Grubic

 Successful operation of Fall 2010 motor setup  SBC code restructuring and cleaning  Preliminary load test strategy  Preliminary air gap control system specs

 Successful compilation of SBC code  Select air gap adjustment motor  Serial control of motor  Write cruise control algorithm  Load and test motor  Regenerative braking algorithm/setup  Communicate with other subsystems