Motor driver: Unterschied zwischen den Versionen
(→Motor driver assembly (dual MC33926)) |
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= Voltages = | = Voltages = | ||
| − | As in all modern systems, | + | As in all modern systems, Ardumower uses 24V motors. |
| − | = Wheel motors = | + | = Wheel motors wiring = |
<gallery> | <gallery> | ||
File: ardumower_motor.jpg | Ardumower gear motor with encoder (8mm diameter, 5900 rpm motor, 0.055 Nm, gear ratio 1/212, output torque 2.45Nm, output rpm 31) | File: ardumower_motor.jpg | Ardumower gear motor with encoder (8mm diameter, 5900 rpm motor, 0.055 Nm, gear ratio 1/212, output torque 2.45Nm, output rpm 31) | ||
File: magnetic_encoder.PNG | Motor wiring | File: magnetic_encoder.PNG | Motor wiring | ||
File: wheel_motor_diagram.png | Ardumower gear motor curve (motor only) | File: wheel_motor_diagram.png | Ardumower gear motor curve (motor only) | ||
| − | |||
File: ardumower_odometry_encoder.jpg | Encoder signal | File: ardumower_odometry_encoder.jpg | Encoder signal | ||
</gallery> | </gallery> | ||
| Zeile 27: | Zeile 26: | ||
* Integrated encoders, so it can measure the rotation speed and the distance | * Integrated encoders, so it can measure the rotation speed and the distance | ||
* 24V (load current ~1A) | * 24V (load current ~1A) | ||
| + | |||
| + | Motor wiring (left motor): | ||
| + | Motor (black) ==== MC33926 M1OUT1 | ||
| + | Motor (red) ==== MC33926 M1OUT2 | ||
| + | |||
| + | For right motor, use MC33926 M2OUT(1,2) accordingly. | ||
| + | |||
| + | = Motor decrease noise = | ||
| + | <gallery> | ||
| + | File:decrease_motor_noise.png | Decrease motor noise | ||
| + | </gallery> | ||
= Motor driver assembly (dual MC33926) = | = Motor driver assembly (dual MC33926) = | ||
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* [https://www.youtube.com/watch?feature=player_embedded&v=DokrJiVzX2I Building video: Dual MC33926] | * [https://www.youtube.com/watch?feature=player_embedded&v=DokrJiVzX2I Building video: Dual MC33926] | ||
* also see: Documentation in [https://github.com/Ardumower/ardumower/tree/master/Dokumentation Github] | * also see: Documentation in [https://github.com/Ardumower/ardumower/tree/master/Dokumentation Github] | ||
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| − | |||
| − | |||
| − | |||
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= Odometry wiring = | = Odometry wiring = | ||
| + | <gallery> | ||
| + | File: magnetic_encoder.PNG | Motor wiring | ||
| + | File: ardumower_odometry_encoder.jpg | Encoder signal | ||
| + | </gallery> | ||
| + | |||
Motor odometry wiring (left motor): | Motor odometry wiring (left motor): | ||
brown ---- PCB VCC | brown ---- PCB VCC | ||
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odometry(4) --- 4.7k --- 5v | odometry(4) --- 4.7k --- 5v | ||
| − | = Mower motor | + | = Mower motor wiring = |
<gallery> | <gallery> | ||
File: ardumower_mower_motor.jpg | Ardumower mower motor | File: ardumower_mower_motor.jpg | Ardumower mower motor | ||
Version vom 30. Mai 2016, 17:30 Uhr
Inhaltsverzeichnis
Abstract
Ardumower uses two different types of motors (all motors can be purchased via the shop 
):
- Two motors (with integrated gearing) for driving (wheel motors) with integrated encoders (for distance and speed control)
- One motor (with high rotation speed) for mowing (mower motor)
To control the motors, it requires motor drivers. In addition, the motor driver measures the motor current, and allows us to detect obstacles as motor current increases at obstacles. Ardumower uses two dual MC33926 motor drivers, so two channels for left and right motor and two dual channels (connected in parallel) for the mowing motor.
Voltages
As in all modern systems, Ardumower uses 24V motors.
Wheel motors wiring
Ardumower gear motor with encoder (8mm diameter, 5900 rpm motor, 0.055 Nm, gear ratio 1/212, output torque 2.45Nm, output rpm 31)
Motor wiring
Ardumower gear motor curve (motor only)
Encoder signal
The two left and right gear motors are controlled independently (aka 'differential driving') to:
- drive the robot forward/backward
- steer the robot left/right
The Ardumower wheel motor features:
- A rotation speed up to 31 rpm allows to move the robot at sufficient speed (at up to meter/sec = 31rpm/60 * PI * 0.25m = 0.4m/sec using 250mm diameter wheels)
- A high torque (2.45Nm) guarantees that the robot can climb small hills as well (with 2 motors, 0.125 radius wheel, 31rpm = 0.4m/s, acceleration = 0.2 ( 1/2 of nomeinal speed) up to 14 degree) see calculator
- Integrated encoders, so it can measure the rotation speed and the distance
- 24V (load current ~1A)
Motor wiring (left motor):
Motor (black) ==== MC33926 M1OUT1 Motor (red) ==== MC33926 M1OUT2
For right motor, use MC33926 M2OUT(1,2) accordingly.
Motor decrease noise
Decrease motor noise
Motor driver assembly (dual MC33926)
Features: up to 3A with integrated current sensor and thermal shut-down protection
Protector board is adviced to be used between controller and motor
PCB and MC33926
MC33926 pinout
MC33926 jumpers
MC33926 schematics
Protector PCB
Protector PCB wiring
- Motor-decrease noise REV20150531, (English comments)
- Protector board (required for safe-use of motor drivers!)
- Building video: Dual MC33926
- also see: Documentation in Github
Odometry wiring
Motor wiring
Encoder signal
Motor odometry wiring (left motor):
brown ---- PCB VCC green ---- PCB GND blue ---- PCB OdometryLeft (3) purple ---- PCB OdometryLeft (4)
For right motor, use PCB OdometryRight accordingly.
IMPORTANT: PCB v0.5/1.2 are missing pull-ups! You need to add them yourself:
odometry(3) --- 4.7k --- 5v odometry(4) --- 4.7k --- 5v
Mower motor wiring
Ardumower mower motor
Ardumower mower motor curve
Mower start current
Mower blocked, 500ms detection (max), waittime: 5sec (min)
The Ardumower mower motor features:
- Fast enough to cut the lawn (3150 rpm)
- Enough torque (140 mNm / 46 W)
- Quiet mowing (you cannot hear it)
- 24V, load current ~1.0A (L=2.8mH, R=1.9ohm)
Security note: For security reasons, always remove mower blades in your first tests!
Motor wiring (mower motor):
black ==== MC33926 M1OUT1 red ==== MC33926 M1OUT2
Motor controller (PID)
The speed of the motors is controlled by a software PID controller. You can monitor the quality of the motor speed control via pfodApp (Plot->Motor control):
Motor speed settings
