Re: Options for Brushless Motor Control?
 

Are you saying you want the robot to travel several kilometers over rocks and sand autonomously, with nothing but dead reckoning to keep it on track?


With a similar torque vs speed curve? Can you post a link please...


You're not going to get precise maneuvers on rocks and sand with mecanum wheels.

Re: Options for Brushless Motor Control?
 

A satellite image will be provided. The software guys would know more specifics but the current plan is some kind of SLAM combining data from cameras, encoders, LIDAR and an IMU.

My weight comparsion was perhaps an exaggeration but not by that much.

The NPC motor has a peak power of 2800W. This AXI motor doesn't list any curves but the peak current draw is 4000W and if I do the math with their minimum efficiency it will be ~2700W.
http://www.modelmotors.cz/index.php?...14&line= GOLD
The AXI motor weights 2.2lb. The brushed motor also runs at ~60% efficiency while the AXI can maintain 85%+. Regardless of the exact numbers, the difference is huge. AXI is one of the most expensive brands, but similar motors can be had for <100$ if so desired.

I've thought a bit about my options and the chances are we will try to roll our own and fall back to the roboteq controller if it doesn't work out. I'll skip rotary encoders and just add hall sensors to the AXI motor since we don't need high resolution and it makes the motors compatible with any sensored controller.

Re: Options for Brushless Motor Control?
 

They give you Kv and R, which is all you need to approximate the torque vs speed curve.

R=0.027 ohms, Kv=225rpm/volt = 23.56 (rad/sec)/volt

So at V=25 volts:

stall current Istall = V/R = 926 amps (WAY beyond the operating envelope)

stall torque Tstall = V/(R*Kv) = 39.3 Nm

no load speed FreeSpeed = V*Kv = 589 rad/sec

There's your torque vs speed curve (approx).


The spec says this motor can tolerate 110 amps for 20 seconds.

So, at I=110 amps:

torque = (I/Istall)*Tstall = 4.67 Nm

speed = (1-I/Istall)*FreeSpeed = 519 rad/sec

power = torque*speed = 2424 watts (for 20 seconds, before it burns up)


At 110 amps and 25 volts, the AXI is drawing 110*25 = 2750 watts and putting out 2424 watts. That's an efficiency of 2424/2750 = 88%. And it can only do that for 20 seconds, according to the spec. At 85%, it will be less than 20 seconds.

Re: Options for Brushless Motor Control?
 

The axi motor I listed is a larger model that is run on 10 cells (LiPO so 3.7-4.2V a cell). I did 37V*84A*0.85% = 2641W. It will peak higher.

Re: Options for Brushless Motor Control?
 

OK, but now you're comparing apples to oranges: a brushless motor at 37 volts to a brushed motor at 24 volts.

FWIW, the heavier brushed motor will likely have a much wider operating envelope.

Re: Options for Brushless Motor Control?
 

Ok. if you want your maximum speed to be 4 m/s (lets say that is at 90% of your free speed). it means, your robot will have maximum power at a speed of

(4m/s)/0.9/2 = 2.2 m/s

if your robot has 4 x 3000W motors, your total power is 12KW.

Since power = Force x Velocity, at 2.2 m/s, your robot can pull 5.45 KN which means it can lift~ 545 kilograms vertically.

Here is where the issue is. The maximum coefficient of friction/traction that you are can dream of getting is lets say 1.5 Which means you are only going to be able to pull 60kg and the rest of the power is wasted.

Thus your usable power is: 60 * 10 * 2.2 = 1320 watts. or 330 watts per motor.

I am guessing you have not been involved in FRC. a CIM motor with a Jaguar speed controller on each wheel will give you the necessary power to accomplish your task.

motor controller: http://parts.digikey.com/1/parts/180...mdl-bdc24.html

motor : http://www.andymark.com/product-p/am-0255.htm

you also need a gearbox for that. with 15cm diameter wheels, you would need an 8:1 transmission found here:
http://www.andymark.com/product-p/am-0145.htm
modified with a 19tooth and a 45 tooth gear.


Hopefully I was able to help.

Also here is a robot we build in 2010. I am sure it would be able to accomplish your task. with some minor modifications

http://www.youtube.com/watch?v=LVtHI6fpeGM