Throttle Application

Introduction

Overview

The Throttle application allows the user to implement a simple throttle control directly on the emDrive. Input devices can be connected directly to the emDrive and mapped to the throttle application. The application calculates the desired output based on these inputs and passes it to motor control. The output can be used as either a torque input or a speed input in the motor controller, depending on which CANOpen object the output is mapped to. No further configuration is needed to switch the application from one output mode to the other.

Features

The Throttle application supports the following features:

• Throttle Module
  Functionality: Calculates the desired output based on mapped input and configuration parameters.
  Capabilities: Can be configured as unidirectional or bidirectional.
• Brake Module
  Functionality: Calculates the desired brake torque based on mapped input and configuration parameters.
  Capabilities: Unidirectional only, with brake torque always in the opposite direction to motor rotation.

  Note that if the desired output is speed, the brake should be disabled.

• Pump Control Module
  Functionality: Controls the pump, turning it on or off depending on motor and drive temperature.
• Pre-charge Module
  Functionality: Manages the pre-charge process at startup.
• DC-DC Turn On Delay Module
  Functionality: Delays the activation of the DC-DC converter after startup to ensure controlled power application.
• SOC Monitoring Module
  Functionality: Monitors the State of Charge (SOC) of the battery.
  Capabilities: Reduces the maximum allowed torque when SOC is below a specified threshold.

  Requires an external Battery Management System (BMS) to operate correctly.

• Charging Detection Module
  Functionality: Detects when the battery is charging and disables the drive during the charging process.
• Input Mapping
  Functionality: Allows certain inputs to the throttle application to be mapped to CAN objects on the emDrive.

All throttle application features can be independently enabled or disabled (except the brake module, which requires the throttle module to be enabled). This is done by setting the Thr1_Enable CAN objects of the throttle application as detailed in Table 1.

Table 1: Thr1_Enable CAN object

Object Name	Object Index	Object Subindex	Description	Unit
Thr1_Enable	0x4010	0x00	Enables the throttle application: 0 – disabled 1 – enabled (must be enabled for any modules to work)	/
Thr1_Enable__Throtle	0x4011	0x03	Enables the throttle module: 0 – disabled 1 – enabled	Bit
Thr1_Enable__Brake	0x4011	0x04	Enables the brake module: 0 – disabled  1 – enabled (throttle must also be enabled)	Bit
Thr1_Enable__Pump	0x4011	0x05	Enables the pump control module: 0 – disabled 1 – enabled	Bit
Thr1_Enable__Precharge	0x4011	0x06	Enables the pre-charge module: 0 – disabled  1 – enabled	Bit
Thr1_Enable__DC_DC	0x4011	0x07	Enables the DC-DC turn on delay module: 0 – disabled  1 – enabled	Bit
Thr1_Enable__SOC	0x4011	0x08	Enables the SOC monitoring module: 0 – disabled  1 – enabled	Bit
Thr1_Enable__ChargingDetBitect	0x4011	0x09	Enables the charging detection module: 0 – disabled  1 – enabled	Bit

 

Input and Output mapping

Input and output mapping for the Throttle application is managed using the Thr1_Obj object, which stores the CANOpen indexes and subindexes of the inputs and outputs mapped to the Throttle application variables. You can remap any variable to a different input by writing the CANOpen index and subindex of the new input to the corresponding Thr1_Obj sub-object.

For example, to map the throttle voltage input to the emDrive analog input 1 (which has a CANOpen object HW_AIN_AIN1 with index 0x3090 and subindex 0x01 as shown in the picture bellow), you would write 0x309001 to Thr1_Obj__ThrottleVoltage.

DODAJ SLIKO kako zgleda v configuratorju ko napišeš obj v obj

The following table outlines the object mapping parameters for the Throttle application. Each object in the table represents a specific function or control point within the application, and the corresponding CANOpen index and subindex define where these objects are located in the CANOpen network. By configuring these parameters, users can tailor the Throttle application to their specific needs, ensuring precise control and monitoring of various functions.

By correctly configuring these object mappings, users can ensure that the Throttle application communicates accurately with the various inputs and outputs connected to the emDrive. This flexibility allows for precise control of throttle, brake, pump, and other critical functions, enhancing the overall performance and reliability of the system.

Table 2: Object mapping parameters

Object Name	Object Index	Object Subindex	Description	Unit
Thr1_Obj__AppControl	0x4012	0x01	Address of CAN object where commands are sent to application	Obj
Thr1_Obj__AppState	0x4012	0x02	Address of CAN object where application state is saved	Obj
Thr1_Obj__ThrotleVoltage	0x4012	0x03	Address of CAN object with throttle input	Obj
Thr1_Obj__ThrotleFWD_DIvalue	0x4012	0x04	Address of CAN object to forward switch  input	Obj
Thr1_Obj__ThrotleREW_DIvalue	0x4012	0x05	Address of CAN object to reverse switch  input	Obj
Thr1_Obj__TargetObj	0x4012	0x06	Address of CAN object where output torque  of throttle application is written	Obj
Thr1_Obj__BatValid	0x4012	0x07	Address of CAN object which stores BMS  status.	Obj
Thr1_Obj__BatSOC	0x4012	0x08	Address of CAN object which stores battery  SOC in percentage	Obj
Thr1_Obj__BatState	0x4012	0x09	Address of CAN object which stores battery  state	Obj
Thr1_Obj__ChargingDetectDIvalue	0x4012	0x0A	Address of CAN object which shows if  charging is detected. If not 0 throttle  application considers battery to be charging.	Obj
Thr1_Obj__MainPumpEnableDO	0x4012	0x0B	Address of CAN object with main pump  enable control	Obj
Thr1_Obj__CoolingPumpEnableDO	0x4012	0x0C	Address of CAN object with cooling pump  enable control	Obj
Thr1_Obj__CoolingInputTemperature1	0x4012	0x0D	Address of CAN object with temperature  input 1 (default bridge heatsink temp)	Obj
Thr1_Obj__CoolingInputTemperature2	0x4012	0x0E	Address of CAN object with temperature  input 2 (default motor temp)	Obj
Thr1_Obj__DCDCenableDO	0x4012	0x0F	Address of CAN object with DC-DC enable  control	Obj
Thr1_Obj__BuzzerDO1	0x4012	0x10	Address of CAN object with buzzer high side  enable control	Obj
Thr1_Obj__BuzzerDO2	0x4012	0x11	Address of CAN object with buzzer low side  enable control	Obj
Thr1_Obj__BrakeVoltage	0x4012	0x12	Address of CAN object with break input	Obj
Thr1_Obj__RPM_in	0x4012	0x13	Address of CAN object with RPM data	Obj
Thr1_Obj__MainRelayEnableDO	0x4012	0x14	Address of CAN object with main relay  enable contro	Obj
Thr1_Obj__PrechargeRelayEnableDO	0x4012	0x15	Address of CAN object with pre-charge relay  enable control	Obj
Thr1_Obj__PrechargeDC_voltage	0x4012	0x16	Address of CAN object with measured  voltage during pre-charge procedure	Obj

 

How to Use Each Module

 

Initial Setup Assumptions

This document assumes that the angle sensor calibration has already been completed by the user, and that all other emDrive parameters for the motor and regulation have been properly configured. Before using any module we have to enable the CANOpen object Thr1_enable with index 0x4010 and subindex 0x00, for that we have to write 1 to the "value" field.

Example

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Pre-charge Module

The Pre-charge module limits the charging current of the emDrive capacitors by activating the pre-charge relay switch before the main relay switch is engaged. The pre-charge relay switch has a resistor connected in series, which limits the current during the capacitor charging phase.

Note that the main and pre-charge relay switches are not integrated within the emDrive and must be provided externally. For more details, refer to chapter 5.4 of the EmDrive user manual.

 

 

For readability and clarity, the following abbreviations are used:

• The pre-charge relay switch refers to Thr1_Obj__PrechargeRelayEnableDO
  
• The main relay switch refers to Thr1_Obj__MainRelayEnableDP

The sequence begins with the activation of the pre-charge relay switch. After the duration specified by the Thr1_Precharge__PrechargeTime parameter (default is 2 seconds), the drive voltage is checked. If the voltage does not exceed the threshold set by the Thr1_Precharge__MinDC_Voltage parameter, an error state is reported. If the voltage is above this threshold, the main relay switch is activated. Finally, after the time specified by the Thr1_Precharge__DelayAfterMainClose parameter has elapsed, the pre-charge relay switch is turned off, and the run state is set to true, activating the throttle and brake functionality. Additionally, we have a diagram illustrating the above functionality. It is assumed that after the pre-charge time, the DC voltage exceeds the set threshold, thus no error state is encountered.

To set this module you have to set all of the objects in table 3 and also use the correct mapping for Thr1_Obj__PrechargeRelayEnableDO and Thr1_Obj__MainRelayEnableDP.

Table 3: Pre-charge module parameters

Object Name	Object Index	Object Subindex	Description	Unit
Thr1_Precharge__PrechargeTime	0x4016	0x01	Time to wait after pre-charge relay switch is  activated before voltage is checked	s
Thr1_Precharge__DelayAfterMainClose	0x4016	0x02	Time to wait before pre-charge relay switch  is deactivated after the main relay switch  has been activated	s
Thr1_Precharge__MinDC_Voltage	0x4016	0x03	Minimum voltage that must be present on  drive capacitors in order to not enter error  state	V

You can also verify whether the pre-charge completed successfully or if an error occurred using the pre-charged module signals.

Table 4: Pre-charge module signals

Object Name	Object Index	Object Subindex	Description	Unit
Thr1_Precharge__Run	0x4016	0x04	Set to 1 when pre-charge is successfully finished	bit
Thr1_Precharge__Err	0x4016	0x05	Set to 1 if there was an error during pre-charge	bit

 

Example

Doddaj sliko kk to zgleda

 

Throttle module