Ah, the undervoltage is something I didn't consider. How good is the current-mode controller? Presumably it's cycle-by-cycle at the PWM rate...? I hope to run current control mode, so with any luck the motors won't draw more than 40A each even in stall.
I'll test the current-regulation quality tomorrow and report back. I have a couple of approaches to try, any input would be appreciated:
- Programmable load (mine's rated to 50A, 500V, 600W) in constant-voltage mode in series with an appropriately-sized inductor to simulate a spinning motor at various speeds.
- Run a motor and lock its shaft. This loses the ability to try and various "speeds" but will more accurately simulate the inductance of the motor.
- Run two motors back to back, where one is controlled by me with a knob on a power supply (the one I plan to use is 0-80V, 1200W, linear post-regulator) and the other controlled by the Jaguar. My voltage knob is basically a speed setting. It's current setting is basically torque.
The third option is probably the most realistic and versatile, but also the most setup. I'm not well-equipped (mechanically) to do that at least for another week.
As everyone knows, our students don't actually design or build the robot, so to make it look like they were working on it for the video, we hid cookies inside the unfinished frame and turned them loose. It looks believable. - Mike Soukup [more] 
18-01-2014, 22:28
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