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builds:ict
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builds:ict [2017/09/25 13:47] poleguy [Build Images] |
builds:ict [2018/07/21 13:45] (current) poleguy [Specifications] |
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| ====== Phantom ICT ====== | ====== Phantom ICT ====== | ||
| - | {{:builds:ict:ICT_2016-09-03.jpg?direct&450|}}\\ | + | {{:builds:ict:ICT_Face_Off.PNG}}\\ |
| //"Although there are other Ice Cream Trucks that have raced in PRS, the Phantom ICT is inspired by audio... specifically the sound of traditional Ice Cream Truck music... You'll here it before you see it..."// | //"Although there are other Ice Cream Trucks that have raced in PRS, the Phantom ICT is inspired by audio... specifically the sound of traditional Ice Cream Truck music... You'll here it before you see it..."// | ||
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| ===== Specifications ===== | ===== Specifications ===== | ||
| - | Motor: Alternators, broken, junkyard, $10 each\\ | + | Motor: [[Alternators|Alternators]], broken, junkyard, $10 each\\ |
| ESC/ECU: Custom Phantom Power Racing Controller, running on a Xilinx Spartan 3e FPGA, $priceless\\ | ESC/ECU: Custom Phantom Power Racing Controller, running on a Xilinx Spartan 3e FPGA, $priceless\\ | ||
| Battery A: 36V LiFe, shared with Phantom #48\\ | Battery A: 36V LiFe, shared with Phantom #48\\ | ||
| Line 62: | Line 62: | ||
| Everything was built with a Harbor Freight band saw, a drill press, and precision measuring tools. (Excluding the extremely precision machining done for the spinny bits by Union Area Man in his Pole Barn.) | Everything was built with a Harbor Freight band saw, a drill press, and precision measuring tools. (Excluding the extremely precision machining done for the spinny bits by Union Area Man in his Pole Barn.) | ||
| + | |||
| + | The body of ICT was built out of corrugated plastic board. | ||
| + | {{:builds:ict:ICT_2016-09-03.jpg?direct&450|}}\\ | ||
| ==== Rapid Unscheduled Electrical Disassembly (Days before Milwaukee 2016)==== | ==== Rapid Unscheduled Electrical Disassembly (Days before Milwaukee 2016)==== | ||
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| With a preload I should be able to see exactly what's going on. | With a preload I should be able to see exactly what's going on. | ||
| - | ==== Next Steps ==== | + | ==== Preload FPGA capture ==== |
| + | |||
| + | ==== Hydraulic Brakes ==== | ||
| + | I learned you should not try to use two calipers with only one disk hooked up and the other caliper stuffed with the plastic shim it ships with. The plastic shim is too squishy, and the braking force is compromised. I learned this by running into a wall after the straight on my first lap in Milwaukee. | ||
| + | |||
| + | It's darn-near impossible to remove precising-fit aluminum brake hubs from aluminum axles in the hot sun. Much easier in the shade. | ||
| + | |||
| + | ==== Over-current tripping ==== | ||
| + | I adjusted the motor controller code to prevent nuisance tripping of the over-current protection. Basically I dropped the amount of current I was trying to draw, and bumped up the point at which I trip the over-current protection. | ||
| + | |||
| + | Maybe more important though is I adjusted the calculation of current from the sinusoidal waveforms. The angle used as the reference for driving the motors is now different in forward vs reverse and the current measurement offset is also in the opposite direction in forward and reverse. I'm not an expert on this, but it does seem important, as the current to voltage relationship of the wavefroms varies depending on which direction you are going and weather you are driving forward or in regen, but it seems the current you care about is only really at one angle. Anybody care to explain this to me, I'm all ears. | ||
| + | |||
| + | To make this happen I spent some time connecting the [[https://en.wikipedia.org/wiki/ESP8266|ESP8266]] wifi module to replace USB serial port. That allowed wireless telemetry. I set up a WRT54G Linksys access point mounted in the car to relay the data to my phone, and then from there to a log file on the phone that can be sent to my email via the app. | ||
| + | |||
| + | After adding the FPGA pre-load capture feature, I was able to capture the current over-current trip and see what's going on to cause the misbehavior. Nothing suprising, just transients in the load causing the current to go up more quickly than the loop could correct them. | ||
| + | |||
| + | ==== The other side ==== | ||
| + | I completed the angle sensor bracket for the other side. Unfortunately I still only have one motor controller working, so I just swapped for testing and once I saw that it worked I took off the extra parts to save weight. | ||
| + | |||
| + | ==== July 2017: Detroit ==== | ||
| + | We brought Phantom 48 and Phantom ICT both out to Detroit. This was the inauguration of the speed changing music. It seems like it would be difficult, but it's not so bad, written as an Android App that takes the speed from GPS and adjusts the playback rate of the music. The output is simply a set of Bluetooth motorcycle speakers from Amazon. | ||
| + | |||
| + | ==== September 2017 ==== | ||
| + | Leading up to Milwaukee 2017 I created a ice cream cone helmet, added hydraulic brakes, and adjusted pulley ratios and current limits to provide for reliable driving. | ||
| + | |||
| + | Due entirely to Moxie, Phantom ICT achieved third place over-all for the Milwaukee Weekend! | ||
| + | [[https://docs.google.com/spreadsheets/d/1ZJ7wFpz4KMm6QfyKbLwCywGJpuw_OAG5GS2mDW5VMvo/edit?usp=sharing|Points Spreadsheet]] | ||
| + | |||
| + | ==== Where should I go next? ==== | ||
| - | * New bolt-together aluminum motor controller design... why not, right? | + | * Rework the steering. |
| - | * Duplicate angle sensor bracket and mount for other side | + | * Retire from racing to focus on the electric Civic? |
| + | * Create a new motor controller or fix the old one to got both sides going. | ||
| * Aluminum version of 3D printed angle sensor. | * Aluminum version of 3D printed angle sensor. | ||
| - | * Adjust motor controller code to prevent nuisance tripping of the over-current protection. | + | * Maybe change the setup of ICT so you can sit on top of the motors rather than way down low. That would shorten the kart significantly. |
| - | * To this end, connect [[https://en.wikipedia.org/wiki/ESP8266|ESP8266]] wifi module to replace USB serial port. | + | * Hydraulic front brakes? All four brakes? Brake bias adjustment? |
| - | * Capture the current over-current trip and see what's going on to cause the misbehavior. | + | * GAN controller |
| - | * Rebuild FPGA with new settings and test some more. | + | |
| | | ||
builds/ict.1506365269.txt.gz · Last modified: 2017/09/25 13:47 by poleguy
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