National Instruments D000017, User Manual

Page 1: ...rivven Inc 12001 Network Blvd Bldg E Suite 110 San Antonio Texas 78249 USA Phone 210 248 9308 Web www drivven com E mail info drivven com Throttle Driver Module Kit User s Manual D000017 Rev B March 2012 ...

Page 2: ...ev B 2 Contents Introduction 3 Pinout 4 Hardware 5 Powering the Module 5 Platform Compatibility 6 H Bridge Drivers 8 Analog Inputs 8 Software Installer 12 Creating a LabVIEW Project 14 Sub VI Documentation 16 Throttle Control 23 Compliance and Certifications 25 Physical Specifications and Characteristics 26 ...

Page 3: ...GA VI for controlling two H Bridge driver channels independently Also provided are a set of RT VIs which allow the user to calibrate the throttle control algorithm in engineering units The FPGA VI may be used by itself for driving any small DC motor other than an electronic throttle However this manual will focus on the application of electronic throttle position control The features included are ...

Page 4: ...Drivven Inc Throttle Driver Module Kit Drivven Inc 2009 Throttle Driver Module Kit User s Manual D000017 Rev B 4 Pinout ...

Page 5: ...rew terminal connector The terminals are labeled BATT 0 and GND 9 Typical power sources will be from automotive 12V or 24V battery systems However the module can accept power from a range of 6V to 32V With no throttles connected the module requires up to 100mA from the external supply Driving a single throttle under full load requires up to 60W peak and 30W continuous Driving two throttles at full...

Page 6: ...sis must be connected to the PXI FPGA card via a SHC68 68 RDIO cable The CompactRIO modules insert into the R Series expansion chassis This platform is shown in Figure 1b below Figure 1b PXI platform compatible with Drivven CompactRIO modules Drivven CompactRIO modules are not compatible with the National Instruments CompactDAQ chassis Drivven CompactRIO modules REQUIRE one of the hardware support...

Page 7: ...fications of NI modules may not apply when used in a system with Drivven modules Warranted specifications are guaranteed for all NI modules except thermocouple modules when used in a system with Drivven modules The NI 9214 is recommended for thermocouple measurements in cRIO systems using Drivven modules Scan Interface mode auto detection and ID mode are not supported for Drivven modules ...

Page 8: ...nic Throttle Driver Module provides two external analog inputs for accepting 0 5V signals The primary purpose of these inputs is for measuring potentiometer voltages A regulated 5V output and ground terminal is provided for powering the potentiometer s of an electronic throttle body Warning The 5V output is not protected against short circuit to higher voltage sources Do not short this terminal to...

Page 9: ...ever when two electronic throttle bodies are used only one position signal from each throttle may be connected to the module and redundant throttle position is not available However the additional position signals may be connected to other analog inputs from other modules making redundant throttle position available for both throttles A redundant position algorithm must be provided by the user Fig...

Page 10: ...ronic throttle bodies Table 1 Connection table specific for standard Bosch DV E5 electronic throttle bodies DV E5 Pin Description Module Terminal Throttle1 Throttle2 Description 1 Motor T2 T4 H1A H2A 2 Potentiometer Ground T8 GND 3 Potentiometer Reference T5 5V Out 4 Motor T1 T3 H1B H2B 5 Potentiometer 2 Signal T6 T7 AN1 AN2 6 Potentiometer 1 Signal T6 T7 AN1 AN2 ...

Page 11: ...y Diameter mm Bosch Part Number 32 0 280 750 148 40 0 280 750 149 60 0 280 750 151 68 0 280 750 152 The following connector parts for standard Bosch throttle bodies are available through Drivven if a throttle is purchased from Drivven Otherwise they are available from major electronics component distributors such as Digikey Mouser Newark Allied Electronics etc Table 3 Connector parts required for ...

Page 12: ...y and open the example project to experiment with the module or use as a starting point for a new application All software files example projects and documentation are installed to C Program Files National Instruments LabVIEW X X vi lib addons DrivvenProductRelease When working with block diagrams user s will notice a Drivven function palette added to the standard LabVIEW palette specific for the ...

Page 13: ...evx vi along with additional calibration values One or two instances of this VI may be used depending on the number of throttle driver channels being utilized The resulting period and pulsewidth output values should be wired directly to the FPGA level to the throttle_revx vi ThrottleControl cluster Figure 6 Throttle Control RT VI icon with leads The FPGA VI must be placed within a Single Cycle Loo...

Page 14: ...t click on the RT target within the project and navigate to New Targets and Devices 8 Within the Add Targets and Devices dialog select the appropriate radio button depending on whether you already have an existing FPGA target connected to an existing RT target or if you are adding a new FPGA target which is not present yet a Existing Target or Device i Expand the appropriate category in the Target...

Page 15: ...ted in the block diagram when connecting the module VI PinInput and PinOutput clusters to FPGA I O nodes The example application discussed below should be consulted for further details about connecting the PinInput and PinOutput clusters to FPGA I O nodes Within the example projects notice the FPGA I O node elements having module name prefixes 14 Some Drivven modules can be automatically recognize...

Page 16: ... module to operate When the module is properly recognized then the ModulePresent Boolean within the ThrottleData cluster will be set to TRUE WatchdogIn WatchdogIn must be toggled at a rate greater than or equal to 10Hz This should only be performed at the RT level DO NOT toggle the watchdog at the FPGA level Toggling the watchdog at the FPGA level would bypass the software safety feature for which...

Page 17: ...tle2Period h bridge circuit 2 will remain fully active This condition should be avoided Otherwise an over current or over temp fault will result ThrottlePinInput These Boolean controls must be connected to their corresponding FPGA I O Node input item ThrottleData The ThrottleData cluster should be terminated with an indicator cluster and made available as a complete cluster for interfacing to the ...

Page 18: ..._revx vi may be used for monitoring or control purposes If the external analog inputs are used for position control feedback then they must be converted to throttle angle by means of a transfer function or lookup table Drivven provides a lookup table function in the rt_vi directory provided to all customers The throttle angle in degrees should be input to the Theta deg input of the throttle_rt_con...

Page 19: ...led ThetaLHErrThresh deg Limp home compensation uLHc is updated when ThetaR is within ThetaLHErrThresh degrees of ThetaLH above or below ULH V Voltage added or subtracted to the PID output when ThetaR is in the vicinity of ThetaLH As Theta moves through the limp home region ULHc is updated to a positive or negative value negative going down positive going up and added to the PID output in order to...

Page 20: ...gned integer of 4 MHz clock ticks required to achieve the PWM duty cycle calculated by the throttle_rt_control vi Should be wired to the FPGA to the throttle_revx vi ThrottleControl cluster for the desired channel ThrottleControlCalcs This output cluster is for monitoring purposes only It provides the latest values from the PID Limp Home Compensation and Stiction Compensation algorithms ThetaFF de...

Page 21: ...input 2 Battery V The filtered battery voltage supplied to the module Temperature C The filtered internal module temperature ModulePresent When TRUE then software has properly detected a Throttle Driver Module and can begin operation When FALSE then software has not yet detected the presence of a Throttle Driver Module In order to be detected the driver module must be properly inserted in its assi...

Page 22: ...t Drivven Inc 2009 Throttle Driver Module Kit User s Manual D000017 Rev B 22 Fault2 When TRUE then an over current or over temperature fault has occurred with h bridge circuit 2 and operation will be interrupted until the fault is removed ...

Page 23: ...ronic throttle bodies typically have stiffer spring return rates applied to angles below the limp home region 3 A limp home compensation value is added to the PID value to assist with travel through the limp home region This compensation can minimize the flat control spot often found as the throttle plate moves through the limp home region 4 A stiction compensation value is added to the PID value ...

Page 24: ... It is recommended that the user begin control calibration with zero for all Lead Lag PID and compensation calibration parameters Begin tuning PID gains for angles above ThetaLH Then introduce TLead and TLag values as necessary Then begin tuning PID gains for angles below ThetaLH ULH and US compensation should be tuned last The default values saved for the example application were derived for a 68...

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Page 26: ...ust be connected to the power cable and the signal cable as close to the module as possible Placing the ferrite elsewhere on the cable noticeably impairs its effectiveness Determine the clamp on ferrite beads to install based on your application Use the following ferrites or other similar ferrites Power cables to CompactRIO and module Laird 28A0592 0A2 2 total AN1 AN2 GND Wurth Electronics 7427154...