Hello everyone, I need some ideas or tips.
I am trying to control 4 gear motors using Psoc5
Some questions -
1) What type of motor are they, brushed DC, brushless DC, sync AC, stepper, servo ?
2) Power levels of the motor you are trying to control ?
3) Max RPM of motors ?
4) Control loop desired, PID, Open Loop.....
Hello Dana, thank you for the reply.
The motors I am going to use are Gear Head Motor - 12vdc 30:1 200rpm (6mm shaft). here is the link for the motors ( http://www.lynxmotion.com/p-653-gear-head-motor-12vdc-301-200rpm-6mm-sha... )
Voltage = 12vdc
RPM = 200
Reduction = 30:1
Stall Torque = 55.6 oz-in (4 kg-cm)
Outside Diameter = 37mm
Weight = 4.26 oz.
I am also going to install encoder to measure the rpm of the motors. Here is the link for that( http://www.lynxmotion.com/p-448-quadrature-motor-encoder-wcable.aspx )
Encoder = 100 cycles per revolution
Encoder = 400 quadrature counts per revolution
Frequency = up to 30khz
To control the motors I am going to use Sabertooth 2X5 R/C Regenerative Dual Channel Motor Controller. Here is the link ( http://www.lynxmotion.com/p-572-sabertooth-2x5-rc-regenerative-dual-chan... )
Control = Analog, R/C
Channels = 2 (dual motor controller)
Voltage = 6.0vdc - 18.0vdc
Continuous Current = 5amps
Peak Current = 10amps
Features = Synchronous regenerative drive, Ultrasonic switching frequency, Thermal and overcurrent protection, Lithium protection mode
For question #4, I am not really sure. I think I will use a PID.
I wil have two robots. The first robot i will control it. The sencond one will be autonomous. In front of the autonomous robot there are going to be 4 sonar sensors. The sonor sensors will make sure the autonomous robot does not crash into the pilot robot.
This might point you in some direction -
http://www.psocdeveloper.com/forums/viewtopic.php?f=3&t=8088 This is a PSOC 1 discussion,
but porting to 3/5 should be relatively straight forward.
PSOC has 8 bit DAC, an approach to higher res can be found here -
You can always use/consider the UDB editor to handle parts of the loop -
http://www.cypress.com/?rID=88998 A series of videos.
Thank you for your help