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FRC Motor speed control with TalonSRX

Robotics, Sensors, and Motion Control
Vmotor_power12.0CIMple_box4.67inertia_load2mfric_loadCIM1r_battery_and_wires50mKF_gain0.5780Krps_to_rpm9.54929encoderfb_errorKP_gain20sumAllcmd_limit1.0-1.0I_gain0.0ddtD_gain0.0sumPIDu20Krad_to_revs0.159155rpm_profilecodesPerRev250KCountsPerCode4Kcntspm_to_cntsp100ms1.6666mmult1KfullscaleToPercentBus9.775E-4mult2mult3w_motorv_batterymotor_cmd_fsv_talon_1w_loadset_speed_NUload_speed_radpsload_speed_NUerrorF_cmdP_cmdmotor_cmd_percent_busI_cmdD_cmdload_pos_radload_pos_revsCPRcntsPerRevcntsPerRevset_speed_rpmcntsp100mscntsp100msmotor_cmd_unlimitedload_speed_rpmload_pos_NUCIM2

FRC Motor speed control with TalonSRX

PIDF feedback control theory for FRC motor speed control

See blog for detailed information

https://www.systemvision.com/blog...

Darrell
Vmotor_power12.0CIMple_box4.67inertia_load2mfric_loadCIM1r_battery_and_wires50mKF_gain0.5780Krps_to_rpm9.54929encoderfb_errorKP_gain20sumAllcmd_limit1.0-1.0I_gain0.0ddtD_gain0.0sumPIDu20Krad_to_revs0.159155rpm_profilecodesPerRev250KCountsPerCode4Kcntspm_to_cntsp100ms1.6666mmult1KfullscaleToPercentBus9.775E-4mult2mult3w_motorv_batterymotor_cmd_fsv_talon_1w_loadset_speed_NUload_speed_radpsload_speed_NUerrorF_cmdP_cmdmotor_cmd_percent_busI_cmdD_cmdload_pos_radload_pos_revsCPRcntsPerRevcntsPerRevset_speed_rpmcntsp100mscntsp100msmotor_cmd_unlimitedload_speed_rpmload_pos_NUCIM2
FRC motor FRC 2017 TalonSRX quadrature encoder CIMple Box
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Points +28
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Imbalanced Three Phase Electric Vehicle Charging Load

Power Systems
V SRC (3-phase)ABCNvsrc1ADBDCDAYBYCYTransformer (Delta-Wye)NYxfmr1TransmissionLinetline2ADBDCDAYBYCYTransformer (Delta-Wye)NYxfmr3AC Load 5 harmonicu1load_state=1AC Load 5 harmonicu2load_state=2AC Load 5 harmonicu3load_state=3va_genvb_genvc_genva_1kvvb_1kvvc_1kvva_loadvb_loadvc_load

Imbalanced Three Phase Electric Vehicle Charging Load

This design shows a simple EV Charging Station for three electric vehicles. It is being supplied by a remote three-phase power...

Mike Donnelly
V SRC (3-phase)ABCNvsrc1ADBDCDAYBYCYTransformer (Delta-Wye)NYxfmr1TransmissionLinetline2ADBDCDAYBYCYTransformer (Delta-Wye)NYxfmr3AC Load 5 harmonicu1load_state=1AC Load 5 harmonicu2load_state=2AC Load 5 harmonicu3load_state=3va_genvb_genvc_genva_1kvvb_1kvvc_1kvva_loadvb_loadvc_load
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Points -55
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Solar Battery Charger using Rohm SiC Power Devices

Renewable Energy
VDIsrqqnQDQDdenomnumVVgate_drivevout_high=18ramptime_low_to_high=10nramptime_high_to_low=10nr_gate_drv3threshold=-0.5HM_195M3020.0e-3Vishay_MKP1848622924Y22ubatteryv_open_circuit=250current_commandoutput_level=5.56solar_panelsVoc=1000Pmax=4760irradianceoutput_level=1x2SCS230KE2v_solar_paneld_gatenet104net108d_turn_offv_switchd_enablebattery_current_cmdnet142net144battery_currentnet150panel_current_cmdbattery_voltagei_errorpanel_voltagev_batteryd_turn_onthreshold=0.5net116v_gatex1SCT3080KLsolar_irradiance_scaled

Solar Battery Charger using Rohm SiC Power Devices

This design shows a 1000V, 4760Watt solar power battery charging system that uses Silicon Carbide (SiC) power devices from Rohm...

Mike Donnelly
VDIsrqqnQDQDdenomnumVVgate_drivevout_high=18ramptime_low_to_high=10nramptime_high_to_low=10nr_gate_drv3threshold=-0.5HM_195M3020.0e-3Vishay_MKP1848622924Y22ubatteryv_open_circuit=250current_commandoutput_level=5.56solar_panelsVoc=1000Pmax=4760irradianceoutput_level=1x2SCS230KE2v_solar_paneld_gatenet104net108d_turn_offv_switchd_enablebattery_current_cmdnet142net144battery_currentnet150panel_current_cmdbattery_voltagei_errorpanel_voltagev_batteryd_turn_onthreshold=0.5net116v_gatex1SCT3080KLsolar_irradiance_scaled
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Points -27
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Circuit Breaker - Single Phase AC

Electro-Magnetic Components
r_load8vsrc1frequency=60peak_voltage=170sw_overloadsw_breakersrc1MMFwinding110core1air_gap100.0e-6stop1spring_preloadm11mdmp10.1Forcereset_forceqsrc1SNpmr_overload8ContactorLogicu5position_armatureresetd_overloadv_line_inv_loadd_break

Circuit Breaker - Single Phase AC

This is a physical or “assembly” model of an electro-magnetic circuit breaker. Rather that modeling the pure electrical “behavior”...

Mike Donnelly
r_load8vsrc1frequency=60peak_voltage=170sw_overloadsw_breakersrc1MMFwinding110core1air_gap100.0e-6stop1spring_preloadm11mdmp10.1Forcereset_forceqsrc1SNpmr_overload8ContactorLogicu5position_armatureresetd_overloadv_line_inv_loadd_break
Circuit Breaker Permanent Magnet Air Gap preload spring physical model Assembly Model Multi-Discipline custom model glue model
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Points -45
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Transient Stability Testing of Transmission Line Fed LED Driver

Power Systems
VD333n2k150kVD3.0n2k10k25.0E-1260k50k5010k10k110uXAL6060_223_122.0e-6V+V-V+V-led1led2led322ubattery1Ai_inputVv_inputsw3TransmissionLinecascade RLCtline3vcc_halfvcc_halfv_dutyv_diffampv_setpointv_rampd_gate_drvv_gatev_sw_diodev_sensevccvccvccv_line_in_1v_batteryv_local_gndv_local_gndv_local_gndv_local_gndv_local_gndv_local_gndv_local_gndv_local_gndv_local_gndv_local_gndv_line_in_2v_out1_2v_out3

Transient Stability Testing of Transmission Line Fed LED Driver

This is a companion example to the design: "TDFS Impedance Stability of Transmission Line Fed LED Driver - Switching". In this...

Mike Donnelly
VD333n2k150kVD3.0n2k10k25.0E-1260k50k5010k10k110uXAL6060_223_122.0e-6V+V-V+V-led1led2led322ubattery1Ai_inputVv_inputsw3TransmissionLinecascade RLCtline3vcc_halfvcc_halfv_dutyv_diffampv_setpointv_rampd_gate_drvv_gatev_sw_diodev_sensevccvccvccv_line_in_1v_batteryv_local_gndv_local_gndv_local_gndv_local_gndv_local_gndv_local_gndv_local_gndv_local_gndv_local_gndv_local_gndv_line_in_2v_out1_2v_out3
Buck Converter Constant Power Loads Switching Converter LED transmission line Step-Down TDFS Impedance Stability
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Points -12
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Step-Down (Buck) DC to DC Converter - Switching

Power Electronics
VDVoltageV+V-V+V-c14333nr182kr6150kc73.0nr192kr710kc825.0E-12r1150kr15100r2010kr2110kc18110uop45op46vcc_halfvcc_halfv_errorv_setpointd_gate_drvv_sensevccvccvccrloadv_gatev_sw_diodeXAL6060_223_122.0e-6v_outVDv_rampv_dutyr860kv_line_in

Step-Down (Buck) DC to DC Converter - Switching

This design is a detailed circuit implementation of the more abstract "state-average" buck converter model shown in the companion...

Mike Donnelly
VDVoltageV+V-V+V-c14333nr182kr6150kc73.0nr192kr710kc825.0E-12r1150kr15100r2010kr2110kc18110uop45op46vcc_halfvcc_halfv_errorv_setpointd_gate_drvv_sensevccvccvccrloadv_gatev_sw_diodeXAL6060_223_122.0e-6v_outVD