Project Readiness Package
Table of Contents
This document describes and serves as a template for preparation of a Project Readiness Package.
The objective of the Project Readiness Package is to document:
- Customer needs and expectations
- Project deliverables (including time frame)
- Personnel / organizations affiliated with the project
It will serve as the primary source of information for students necessary during Phase 0 (Planning) to develop a SD I plan and schedule including specific deliverables and due dates. The Project Readiness Package will also support Faculty evaluation of project suitability in terms of depth, scope, and student / faculty resources by discipline.
- Proposal Number
- Project Name: PC104 Motor Controller Subsystem
- Project Number: P07302
- Track: Systems and Controls
- Start Term: Fall 2006-1
- End Term: Per Team's availability Winter 2006-2 or Spring 2006-3
- Faculty Consultant: Reddy (firstname.lastname@example.org)
- Faculty Guide: Slack (email@example.com)
- Customer organization: RIT
- Customer contact information: Dr. Hensel 475-7684, firstname.lastname@example.org
- Principal sponsor: KGCOE
The Motor Controller System is one of a family of subsystems to support planned and future vehicular and robotic platforms, specifically P07201, P07202 and P07203 Senior Design projects for current projects. The goal of the Motor Controller Subsystem Team is to design, build and test Electronics and associated Driver Code to support missions from various KGCOE faculty and student vehicular and robotic clubs and events in the future without the need to redesign. This project shall be sufficient robust to enable scalability, programmability, reusability and reliability.
|Discipline||Number of Students||Skills Required|
|EE||4||Motor Controller and PC104 Processor PCB interface. Small Power and Sensing Electronics. Sensor data acquisition and control. Power Circuitry.|
|CE||2||Linux O/S & Motor Controller Software. Driver (I2C, CAN, Client)|
Continuation, Platform, or Building Block Project Information
Principle Sponsor or Sponsoring Organization
KGCOE departments: Mechanical, Electrical and Software Engineering.
To design and develop a robust and reusable PC104 Motor Controller PCB and software to support Motor Control functions for future vehicles and robots. The project design will be scalable to support to support 10 Kg and 100 Kg weight vehicles. The PC104 control board should be designed to support the eventual use from 1000 Kg weight vehicles but can not be thoroughly tested since these motors will not be available. Also, the Controller will control down to 1kg robots. (Current and future platform categories are 1000 kg, 100 kg, 10 kg, 1kg weights.) The Motor Controller Board is one of a family of subsystems to support planned and future vehicular and robotic platforms. The goal of the Motor Controller Subsystem is to design, build and test I/O Circuits and associated Diver Code. In order to support a wide range of vehicle platforms, this project shall be scalable, programmable, reusable and reliable. The driver code shall form the foundation for future projects that are specific to software applications and future actuator devices.
The following describes the major functions required by the customer.
PC104 Platform Architecture
- PC104 form factor Processor PCB shall be defined and supplied to this project team.
- The Motor Controller PCB to be designed shall be a family member along with Data Acquisition Subsystem, future Vehicle Function controls and future Communications Subsystems.
- Motor Controller Subsystem circuitry shall be on PC104 form factor circuit board(s).
- Every effort should be made to place all circuits on one form factor board unless there is a circuit space issue or there is a logical reason to separate (i.e. future upgrades).
Vehicle Drive Motor Controls
- The module will drive, control and sense two motors. The design needs are available P07200 Track PDPs. Some critical parameters power, RPM, torque for these motors.
Low Power Motor Controls
- The module will drive and control one Low Power Motor. This will drive a small accessory device. Contact customer for specific application(s).
Vehicle Drive Motor Sensor Controls
- Each vehicle drive motor will be equipped with a shaft position/rotation sensor capable of measuring shaft rotation position (within 2o accuracy) and direction (CW, CCW).
- Each vehicle drive motor will be equipped with a current sensor to determine power being applied.
- Each vehicle drive motor will be equipped with thermo-sensor to monitor motor temperature during all motor conditions (i.e. from normal to over temperature conditions).
- Via a given software application running on or interfaced through PC104 Processor PCB (supplied), motor controls shall communicate in a timely manner with no loss of data. There shall be approximately 20 motor control commands. The Vehicle Drive Motor Controls will interpret these commands and drive the motor electronics.
Temperature Signal Conditioning
- To have this Controller Board universal to several vehicle motors, the following sensors are recommended. This requirement may change in type and/or change in the number of temperature sensors as specific motors are selected by teams in P07200 Track and customer requirements for potentially future motors.
- T&K, Thermistor
- T/C Thermocouple Cold Junction Compensation
- Given the PC104 processor performance, the Motor Controller PC 104 PCB shall not require more than 25% of the total processing capability.
- 12V rechargeable with 1 hr run time.
Other actuator functions
- Depending upon Customer meetings with Dr. Hensel (and potentially faculty he recommends you contacting), other vehicle motor controls may be considered.
Customer DeliverablesSDI: Proposed concepts and planned final design for customer review and approval, final detailed design concept for customer approval. At a minimum, PC-104 based system should be created that controls and monitors motor actions and demonstrates proposed functionality. Software and hardware architectures should be defined and documented and necessary development systems specified including cost and availability. Preliminary test plan to be conducted and approved by Customer at time of final delivery will be completed and approved.
SDII: Prototype that has been tested with final user, requirements met and verified as per documented test plan. Design Manual that future teams can apply to their project without the need to rethink this Controller.
Customer and Sponsor Involvement
Sponsor: provide funding. Customer: provide input on his own needs and capabilities regarding the project, provide access to controls and motor hardware for team to apply to their design. Very involved in the day to day activities from both a customer needs to design to final debugging and demonstration.
At Customer's direction, team may need to research club or event rules.
Project Budget and Special Procurement Processes
expenditures will be paid by KGCOE.
Intellectual Property Considerations
None. Project design will be open sourced on RIT website.
Detailed Course Deliverables
Objective: Following the product development process, develop customer needs and engineering specifications, evaluate concepts, resolve major technical hurdles, and employ rigorous engineering principles to design an alpha prototype. Develop a design verification plan and fully document design.
1. Phase 0 Planning: SDI project plan / schedule including specific deliverables and due dates (wks 1-3)
2. Phase 1 Concept Development: Detailed, quantitative target specifications mapped to customer needs. (wks 1-3)
- EE / CE: Power, voltages, current, cost, size, environmental conditions, noise, cost, safety, detailed performance specifications. All functionality should be defined with quantitative specifications.
3. Phase 1 Concept development: Develop multiple concepts (on paper) and select most feasible. Update specifications. Customer Feedback. (wk 4)
- EE / CE: High level block diagrams, rough schematics, power budget, space budget, critical component requirements, serviceability & maintainability Design.
4. Phase 2 System-Level Design: System design including architecture, sub-system definition, interface definition, and more detailed specifications. Appropriate engineering analysis including hand calculations and simulation / modeling. Determine greatest challenges / risks to project (wk 5)
- EE / CE: More detailed block diagrams, schematics, SPICE simulations, matlab modeling (if applicable) , memory requirements, processor speed calculations.
- EE / CE: Physical hardware of key / high risk sub-systems, development board evaluation of DSP algorithms, sketch of connectors and harnessing.
6. Phase 3 Detail Design: Detailed design to meet all customer needs. All long lead items should be identified for ordering. Design review. (wks 8-9).
- EE / CE: Final ORCAD schematics, BOM, detailed SPICE, Matlab (if applicable), etc. simulations coupled with implementation plans, particularly project schedules and risk assessments.
7. Phase 3 Detail Design: Detailed test plan with linkage to engineering specifications and customer needs. The results of this plan should demonstrate the design meets all customer needs and translated engineering specifications (both high level specifications and cascaded sub-system specifications). (wk 10)
- EE / CE: Step by step plan to fully characterize developed electronic system against all specifications and customer needs.
8. Phase 3 Detail Design: Project plan for SDII (wk 10). 9. Phase 3 Detail Design: Project review (wk 10).
Objective: Following the product development process, build an alpha prototype and demonstrate performance meets specifications. Fully document alpha design and verification testing.
1. Phase 3 Detail Design: Finalize full system design. Design review. (wks1-2)
- EE / CE: PCB layouts, thermal management, cabling, packaging
2. Phase 4 Testing and Refinement: Full feature / function alpha prototype (wks 3-6)
- EE / CE: Assembled PCBs, PC interfaces, etc. Prototyped system
3. Phase 4 Testing and Refinement: Design Verification testing. Execution of detailed test plan with results documented. Design Review and prototype demo. (wks 7-8) 4. Phase 4 Testing and Refinement: Design History File completion (EDGE web site). Generation of conference paper and poster that cover customer needs, specifications, highlights of design, results of design verification testing, and future work. (wk 9) 5. Phase 4 Testing and Refinement: Project review (wk 10) 6. Phase 4 Documentation: Product Manual.
Preliminary Work Breakdown
EE - Small Power and Sensing Electronics
EE - Motor Controller and client PC104 Processor interface
EE - Sensor data acquisition and control.
EE - Power Circuitry
CE - Linux O/S (or similar) & Motor Controller Software
CE- Client Network Driver (I2C, CAN, and/or similar)
Grading and Assessment Scheme
For general guidelines, see https://edge.rit.edu/content/Senior%20Design%20I/public/Grading. Grading will be as indicated on the standard grade form. Additional graded deliverables specific to this project include a complete Product Manual. These will be included in the Deliverables category for SDII.
SD I Average expectations ( C ) - System functional specifications, software and hardware engineering specifications, software and hardware architecture development, proposed selection of hardware and software development materials and tools, completed test and verification document.
Above average expectations ( B ) - Average expectations plus PC 104 control software and hardware designs (flowcharts, software specifications, schematics) feasibility assessment documenting the optimal design based sound engineering and prototype empirical data and power/lifetime estimates, baseline software that demonstrates interaction with motor and devices, completed bill of materials suitable for ordering necessary development materials and tools.
Excellent ( A ) - Above average expectations plus demonstration of Client PC and/or PC 104 Application Software that will not only control but will also monitor and log motor functions. Design warning indicators or messages that indicate motor is running outside its control parameters (i.e. overheating, excessive electrical motor slip, defective motor or device and so on) Motor control functions will be designed to be sufficiently flexible to control motors larger than the current proposed motors.
SD II Average expectations ( C ) - Prototype system that meets functional requirements according to relevant test specifications that demonstrates proof of concept.
Above average expectations ( B ) - Average expectations plus implement design functions from the ( B ) description above SD I.
Excellent ( A ) Above average expectations plus implement design functions from the ( A ) description above SD I.
Three-Week SDI Schedule
- A general plan to learn PC104 architecture and functions.
- Gathering Customer Needs.
- Cross project team discussions and plan with other Fall Senior Design projects had may have parallel Customer Needs.
- Course Deliverables Phase 0.
- Recommendation of Motor Functions to be designed.
- Basic project architecture assumptions and associated preliminary assessment as to the do ability (verbal or written buy-in with Customer, Consultant(s), and Guide).
|RIT||will be the principal contact person for the Team, will meet with the team weekly, will meet with individual members as needed, will be actively engaged in the design and review processes. G. Slack||Yes|
|RIT||will meet with the team weekly, will meet with individual members as requested by student, will be actively engaged in the design and review processes. Dr. Reddy, Consultant.||Yes|
|RIT||will clarify requirements, interpret and consider trade-offs. Dr. Hensel||Yes|