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Unread 30-01-2011, 22:29
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Ether Ether is offline
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Re: Stalling the BaneBot 775 motors

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For the purpose of this discussion I think we are getting too far into the theory behind the component.
This is pretty basic AC circuit theory, and it has a profound effect (40 watts versus 200 watts) on the answer you get, so it's worth understanding.


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I am quite sure that the Jaguar compensates for the exponential effects of Inductance/switching frequency/rise time and changes its pulse frequency so that the output power varies linearly with the input instructions.
Sorry, it doesn't work this way. First, the output frequency does not change at all. It is a constant 15000 Hz. Only the duty cycle changes. The duty cycle varies linearly with input command (unless, of course, you are running closed loop, but that's another story entirely).


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In this case, an instruction of 20% output would result in an intuitive 20% power (W) output and thus ~200W.
It doesn't work that way. A 20% command gives a 20% duty cycle.


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If the jaguar input controlled the switching frequency- linearly, then I think Ether is right.
The Jag does not control switching frequency. The frequency is held constant at 15000 Hz, which gives a pulse width of 66.7 microseconds. What the Jag changes is the "on" portion of that 66.7 usec.


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After one of our team members hooked up a jaguar backwards today, I opened it up to take a peek inside. The output has a capacitor on it- I believe this would effectively "smooth" the output power and generate a physically lower voltage/amperage. With the capacitance/inductance/resistance and switching frequency you effectively have an RLC circuit. Relative to the switching frequency, output would indeed change exponentially just like Ether's calculation.
Not sure what you mean by "exponentially" here. The effective voltage changes linearly with input command, and the effective current also changes linearly. The effective power thus changes as a square function.


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I believe we are just thinking of two different parameters of which we are commanding 20% thereof- My thinking is that the input commands control the power output
They do, but not linearly.

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wheras Ether's thinking is that the input commands control the switching frequency.
No, it controls the duty cycle, and thus the effective voltage and current.


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I'm going to stick with the former so tell Regis my final answer is ~200W!
Are you a betting man?


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If you know what the frequency is
It's 15000 Hz.


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Can we not deduce the inductance?
If you knew how many windings, and the core material magnetic properties, you could make a rough calculation.