Commit 67dbd7b2 authored by Jake Read's avatar Jake Read

update images

parent e6fa92d2
......@@ -4,9 +4,9 @@
The MMKBLDC Project is my attempt at building a decent controller for Brushless Motors. BLDCs are excellent sources of mechatronic actuation: they're [power dense](https://jakeread.pages.cba.mit.edu/actuators/) and serve the motion control justice present in most state of the art robotics. However, controlling them is non-trivial, and requires the combination of some EE expertise, some control expertise, and some hardware know-how.
![board](/images/board.png)
![board](/images/fab-front.jpg)
![schematic](/images/schematic.png)
![schematic](/images/fab-back.jpg)
## Why
......
# Machine Kit BLDC Driver: Circuit Development
![schematic](https://gitlab.cba.mit.edu/jakeread/mkstepper/raw/master/images/schematic.png)
![schematic](/images/schematic.png)
![routing](https://gitlab.cba.mit.edu/jakeread/mkstepper/raw/master/images/routed.png)
![routing](/images/routed.png)
The circuit uses a DRV8302 to drive CSD88584 (or CSD88599) half-bridges, which are rated to 40V / 50A and 60V / 30A respectively. Normally, I'll run 24V power. It connects to an AS5147 or AS5047D or AEAT6600 absolute encoder over SPI, and reads phase currents from the amplifier built into the DRV8302, as well as phase voltages from simple voltage dividers (which are clamped to 3V3 with a series of diodes).
......
......@@ -39,17 +39,17 @@ UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/marekr/borkedlab
UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/sparkfun/SparkFun-DiscreteSemi.lbr"
[Win_1]
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File="atkbldcdriver.sch"
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WireWidths=" 0.0762 0.1016 0.127 0.15 0.2 0.2032 0.254 0.3048 0.4064 0.508 0.6096 0.8128 1.016 1.27 2.54 0.1524"
Type="Board Editor"
Number=1
File="atkbldcdriver.brd"
View="38.026 5.39031 118.602 72.4968"
WireWidths=" 0.0762 0.127 0.15 0.508 0.6096 0.8128 2.54 1.016 1.27 0.3048 0.254 0.2 0.4064 0.1016 0.2032 0.1524"
PadDiameters=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 6.4516 0"
PadDrills=" 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6"
PadDrills=" 0.2 0.25 0.35 0.4 0.45 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6 0.3"
ViaDiameters=" 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 0.95 1 1.05 1.1 1.15 1.2 1.3 0"
ViaDrills=" 0.2 0.25 0.3 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.35"
HoleDrills=" 0.2 0.25 0.3 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.35"
TextSizes=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.9304 2.1844 2.54 3.81 5.08 6.4516 1.778"
ViaDrills=" 0.2 0.4 0.45 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.5 0.25 0.35 0.3"
HoleDrills=" 0.2 0.25 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.35 0.3"
TextSizes=" 0.254 0.3048 0.4064 0.8128 1.016 1.27 1.4224 1.6764 1.9304 2.1844 2.54 3.81 5.08 6.4516 1.778 0.6096"
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......@@ -58,17 +58,17 @@ DimensionExtWidths=" 0.127 0.254 0.1 0.13 0.26 0"
DimensionExtLengths=" 1.27 2.54 1 2 3 0"
DimensionExtOffsets=" 1.27 2.54 1 2 3 0"
SmdSizes=" 0.3048 0.1524 0.4064 0.2032 0.6096 0.3048 0.8128 0.4064 1.016 0.508 1.27 0.6604 1.4224 0.7112 1.6764 0.8128 1.778 0.9144 1.9304 0.9652 2.1844 1.0668 2.54 1.27 3.81 1.9304 5.08 2.54 6.4516 3.2512 1.27 0.635"
WireBend=0
WireBendSet=31
WireBend=3
WireBendSet=0
WireCap=1
MiterStyle=0
PadShape=0
ViaShape=1
PolygonPour=0
PolygonRank=0
PolygonRank=3
PolygonThermals=1
PolygonOrphans=0
TextRatio=8
TextRatio=10
DimensionUnit=1
DimensionPrecision=2
DimensionShowUnit=0
......@@ -80,22 +80,20 @@ SwapLevel=0
ArcDirection=0
AddLevel=2
PadsSameType=0
Layer=91
Views=" 1: 170.224 83.7282 413.377 194.09"
Sheet="1"
Layer=47
[Win_2]
Type="Board Editor"
Number=1
File="atkbldcdriver.brd"
View="40.4207 5.232 120.997 72.3385"
WireWidths=" 0.0762 0.127 0.15 0.508 0.6096 0.8128 2.54 1.016 1.27 0.3048 0.254 0.2 0.4064 0.1016 0.2032 0.1524"
Type="Schematic Editor"
Number=2
File="atkbldcdriver.sch"
View="-500.418 -241.803 754.198 327.64"
WireWidths=" 0.0762 0.1016 0.127 0.15 0.2 0.2032 0.254 0.3048 0.4064 0.508 0.6096 0.8128 1.016 1.27 2.54 0.1524"
PadDiameters=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 6.4516 0"
PadDrills=" 0.2 0.25 0.35 0.4 0.45 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6 0.3"
PadDrills=" 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6"
ViaDiameters=" 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 0.95 1 1.05 1.1 1.15 1.2 1.3 0"
ViaDrills=" 0.2 0.4 0.45 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.5 0.25 0.35 0.3"
HoleDrills=" 0.2 0.25 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.35 0.3"
TextSizes=" 0.254 0.3048 0.4064 0.8128 1.016 1.27 1.4224 1.6764 1.9304 2.1844 2.54 3.81 5.08 6.4516 1.778 0.6096"
ViaDrills=" 0.2 0.25 0.3 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.35"
HoleDrills=" 0.2 0.25 0.3 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 1 0.35"
TextSizes=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.9304 2.1844 2.54 3.81 5.08 6.4516 1.778"
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MiterRadiuss=" 0.254 0.3175 0.635 1.27 2.54 1 2 2.5 5 7.5 10 0"
......@@ -104,17 +102,17 @@ DimensionExtWidths=" 0.127 0.254 0.1 0.13 0.26 0"
DimensionExtLengths=" 1.27 2.54 1 2 3 0"
DimensionExtOffsets=" 1.27 2.54 1 2 3 0"
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WireBend=3
WireBendSet=0
WireBend=0
WireBendSet=31
WireCap=1
MiterStyle=0
PadShape=0
ViaShape=1
PolygonPour=0
PolygonRank=3
PolygonRank=0
PolygonThermals=1
PolygonOrphans=0
TextRatio=10
TextRatio=8
DimensionUnit=1
DimensionPrecision=2
DimensionShowUnit=0
......@@ -126,7 +124,9 @@ SwapLevel=0
ArcDirection=0
AddLevel=2
PadsSameType=0
Layer=47
Layer=91
Views=" 1: -500.418 -241.803 754.198 327.64"
Sheet="1"
[Win_3]
Type="Control Panel"
......
images/schematic.png

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images/schematic.png

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images/schematic.png
images/schematic.png
images/schematic.png
images/schematic.png
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