Specifications

The Enhancement of a Multi-Terrain Mechatron for Autonomous Outdoor Applications
xiv
Figure 3.4: Simplified single switch and relay drive circuit………………… …….41
Figure 3.5: Itchy and Scratchy motor drivers……………………………… ………42
Figure 3.6: One of the H-Bridge power circuit boards previously designed… ……45
Figure 3.7: Previously designed microcontroller board………………… …………46
Figure 3.8: Initial motor driver front end GUI…………………… ……………..…47
Figure 3.9: Small 24 V motor driver test motor………………………… ………....48
Figure 3.10: Clean and noisy 5 V supply rail…………………………… ……...….49
Figure 3.11: Noise from PWM at 34.72 kHz and PWM signal……………… …....49
Figure 3.12: Mounting enclosure and cooling fans for motor driver………… ……50
Figure 3.13: Noise after PWM changed to 12 kHz……………………… ………...51
Figure 3.14: Inspection of single noise pulse (f ≈ 20 MHz)………………………..53
Figure 3.15: C215 RFI noise suppression choke and connection diagram………....53
Figure 3.16: Reduced noise density and amplitude after RFI choke added…… …..54
Figure 3.17: Assembled Modotronics MAXI motor driver kit……… …………….56
Figure 3.18: MDO3 and MD22 motor drivers………………………… …………..57
Figure 3.19: Tecel Microcontrollers D200 DC Motor Driver Board……… ………58
Figure 3.20: MDM5253 motor driver board…………………… ………………….59
Figure 3.21: RoboteQ AX2550 controller module.……………… ………………...60
Figure 3.22: RHINO DS72K controller dimensions……………… …………….....62
Figure 3.23: Example scooter tiller head from Dynamic Controls Ltd…… ……….64
Figure 3.24: RHINO suggested wiring diagram……………………… …………...65
Figure 3.25: Handheld motor driver controller………………………… ………….66
Figure 3.26: Connection of handheld programmer to RHINO controller…… …….67
Figure 3.27: RHINO controllers mounted on plate at rear of mechatron…………..69
Figure 3.28: Motor driver interface board utilizing PWM based DAC…… ………70
Figure 3.29: Simplified schematic of PWM interface board……………………….71
Figure 3.30: Simplified schematic of digital pot interface to motor drivers…… ….72
Figure 3.31: Schematic showing key switch control circuitry……………… ……..73
Figure 3.32: Microcontroller header and optoisolated status signals………… ……73
Figure 3.33: Completed RHINO motor driver interface board…………… …….…74
Figure 3.34: Mounting enclosure for motor driver interface…………………….…74
Figure 3.35: Microcontroller board for motor control……………………………...75
Figure 3.36: First microcontroller board and improved design………………….…76
Figure 3.37: Microcontroller power supply……………………………………...…77