Giesemann, Carsten

Kemnitz, Günter

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Developing a power supply solutionfor a mobile robotCarsten Giesemann, Günter KemnitzIfI Technical Report Series IfI-10-03ImpressumPublisher: Institut für Informatik, Technische Universität ClausthalJulius-Albert Str. 4, 38678 Clausthal-Zellerfeld, GermanyEditor of the series: Jürgen DixTechnical editor: Michael KösterContact: michael.koester@tu-clausthal.deURL: http://www.in.tu-clausthal.de/forschung/technical-reports/ISSN: 1860-8477The IfI Review BoardProf. Dr. Jürgen Dix (Theoretical Computer Science/Computational Intelligence)Prof. i.R. Dr. Klaus Ecker (Applied Computer Science)Prof. Dr. Sven Hartmann (Databases and Information Systems)Prof. i.R. Dr. Gerhard R. Joubert (Practical Computer Science)apl. Prof. Dr. Günter Kemnitz (Hardware and Robotics)Prof. i.R. Dr. Ingbert Kupka (Theoretical Computer Science)Prof. i.R. Dr. Wilfried Lex (Mathematical Foundations of Computer Science)Prof. Dr. Jörg Müller (Business Information Technology)Prof. Dr. Niels Pinkwart (Business Information Technology)Prof. Dr. Andreas Rausch (Software Systems Engineering)apl. Prof. Dr. Matthias Reuter (Modeling and Simulation)Prof. Dr. Harald Richter (Technical Informatics and Computer Systems)Prof. Dr. Gabriel Zachmann (Computer Graphics)Prof. Dr. Christian Siemers (Embedded Systems)PD. Dr. habil. Wojciech Jamroga (Theoretical Computer Science)Dr. Michaela Huhn (Theoretical Foundations of Computer Science)Developing a power supply solutionfor a mobile robotCarsten Giesemann, Günter KemnitzDepartment of Informatics, Clausthal University of Technology,38678 Clausthal-Zellerfeld, Germany, http://techwww.in.tu-clausthal.deAbstractThe article describes the power supply design of a mobile robot. Start-ing with the specification of the requirements it describes two prelimi-nary designs with an integrated dual-voltage switching power regulatorcircuit, producing disrupted output voltages, and the final successful de-sign. The aim of the article is to highlight some aspects of the windingway of today’s electronic design processes.Keywords: power supply, mobile robot, switching power regulator1 IntroductionFor our humanoid robots – type ROBONOVA [3] – extended by a new FPGAbased hardware a new power supply had to be designed. The whole projectis named HuBoTUC (humanoid robots of technical university of clausthal)[2]. As a suitable Li-Ion accumulator the Samsung L18650 was found havinga capacity of 2700 mAh and a nominal voltage of 3.7 V [5]. The servos havea supply voltage range from 4.8 V to 6.0 V, so two accumulators have to beconnected in series. The resulting 7.4 V has to be transferred to 6.0 V for theservos. In addition the FPGA and the rest of the control circuitry need thefollowing voltages: 5.0 V (≈ 100mA), 3.3 V (≈ 500mA), 2.5 V (≈ 10mA) and1.2 V (≈ 200mA). The space for the power supply circuitry is very limited(only few cm3). Wanted operation time is two hours or longer.Due to the fact that the 16 servos have a peak current consumption upto some amperes and the considerable consumption of the 3.3 V voltage,mainly for the SRAM circuits, no space for cooling devices and the desiredlong operation time – fixed voltage regulators are unsuitable. We decided touse two switched voltage regulators for the high current voltages 6.0 V and3.3 V and fixed voltage regulators for the rest. After some internet researchthe National Semiconductor LM26400Y dual 2A 500 kHz wide input range1The first designbuck regulator was chosen [6]. It is a very small step-down regulator capableto provide the two high current voltages. However, after two unsuccessfulattempts a different astonishing simple solution was found and chosen.2 The first designSince the robot and its control unit were still under design, the first powersupply has been designed for another FPGA board, needing four off-boardsupply voltages: VCCINT (1.2 V), VCCIO (3.3 V), VCCAUX (2.5 V) and 5.0 V.The switching power regulator has been used for VCCINT (1.2 V) instead ofthe 6.0 V, while the VCCIO (3.3 V) remained on the other output. The ad-ditional voltages had to be generated by some fixed voltage regulators, theVCCAUX (2.5 V) by a LM317 L from National Semiconductor [7] and the5.0 V by a ZLDO500, an ultra low dropout fixed voltage regulator from Ze-tex Semiconductor [4]. The printed circuit board was designed using EAGLE[1]. Figure 1 shows the circuit diagram from the schematic editor. It is obvi-ous that the switching power regulator has a more complex circuit than thefixed voltage power regulators with 2-3 capacitors and – if adjustable – two re-sistors. All the circuits and the values of the components are taken from thecorresponding datasheets [4, 6, 7]. The PCB (Printed Circuit Board) was self-manufactured using photo sensitive basis material, chemical etching andthrough-plating by rivets. The assembling was also hand-made, using a sol-Figure 1: Schematic of the first designDEPARTMENT OF INFORMATICS 2DEVELOPING A POWER SUPPLY SOLUTION FOR A MOBILE ROBOTa) b)Figure 2: a) Board design (the LM26400Y is on the bottom, the LM317LDand ZLDO500 are on the top) b) Assembled board with additional capacitors,improved wiring to reduce inductance of critical connections etc.dering oven for the SMD (Surface-Mounted Device) components (fig. 2).After the continuity check and the elimination of the shorts and breaks,the board was put into operation using a laboratory power supply. Both fixedvoltage regulators worked fine and will not receive further consideration.The LM26400Y produced both of the desired voltages, but with an overlay-ing disruption, making them unusable. The oscillograph curve showed thatthe disruptions were caused by the 500 kHz switching frequency of the reg-ulator. Deducing from [11], reducing of the inductance of critical wires, in-creasing the load and/or increasing capacitors could solve the problem. Aload increase had no positive effect. An astonishing side effect was that thehigh frequency dirt was even measurable on the ground connection. Addi-tional 2,2µF ceramic capacitors close to the regulator reduced the disruptionslightly. Huge electrolytic capacitors around the regulator had no positiveeffect, confirming only that the problem cannot be solved in this way. Alsocritical wires had been shortened as far as possible (fig. 2 b). Assuming thatthe wiring caused the problem, the board was redesigned.3 The second designThis time the board layout example from the datasheet [6] shown in fig. 3 awas adapted, having much shorter critical wires but requiring much morePCB-area. The schematic design remained the same as in fig. 1. The modi-fied PCB is shown in fig. 3 b and c. This board was also an in-house produc-tion. After successful continuity check it was put into operation again witha laboratory power supply.As in the first design the linear power regulators works flawless and stableeven under high current load. What about the LM26400Y? Little progresswas made. The output voltages are better, but still not clean enough. Trying3 Technical Report IfI-10-03The final designa) b) c)Figure 3: a) Example layout from the data sheet b) PCB layout c) assembledboardthe same workarounds as before – high load, additional capacitors etc. – theoutput voltages did not turn flat. A disappointing result, which leaves twoopen questions:1. Does the LM26400Y need special components for its circuit?2. Are our hand-made and manufactured PCBs the problem?In the data sheet of the LM26400Y [6] not only the values of the componentsare listed but also part numbers of certain component companies. This is astrong evidence that the first guess is right. On the other hand, our PCBs arefar from being manufactured professionally. For example, rivets for through-plating were used, which could also cause high frequency problems. Maybeit is a mixture of both problems. Our simulation und test facilities did notallow a closer localization.How to go on? Engineering is a creative art. Failures are necessary to learn.It was a »successful failure« like the unsuccessful Apollo 13 mission, werea technical failure prevented the landing on the moon. The astronauts re-turned save to earth and the technicians learned how to avoid trouble in fu-ture. In our case we learned that we cannot handle a high frequency switchedvoltage regulator design with our facilities and have to look for a different so-lution.4 The final designAs it is often the case, the solution was right in front on the laboratory deskall the time in form of a Spartan-3A DSP Starter Board, having a similar powersupply as the one to be designed [10]. This board has switched power regu-lators, however, not assembled of single components, but using two TexasInstruments PTH switching regulator modules. These modules are availableDEPARTMENT OF INFORMATICS 4DEVELOPING A POWER SUPPLY SOLUTION FOR A MOBILE ROBOTFigure 4: Schematic of the final designfor different current ratings, but not for the input voltage of our Li-Ion ac-cumulator package. Fortunately, there are similar modules with wide inputvoltage ranges, named PTN series. Only one resistor is necessary for settingthe output voltage. In addition two capacitors are required – a very simplesolution (fig. 4).The robot requirements were back in focus. As mentioned earlier, it needsseveral voltages. The decision was made to test the 3.0 A module PTN78060Wto produce the 6.0 V servo voltage and the 1.5 A module PTN78000W to pro-duce the 3.3 V I/O voltage [8, 9]. The other voltages are still produced bylinear power regulators since the loads are small. Of both modules Texas In-struments send us a free engineering sample, many thanks for it.a) b)Figure 5: Final design a) board layout b) assembled boardThese modules have the perfect shape to fit into the body of the robot, sowe decided to design the PCB in the right size to find place under the Li-Ionaccumulator. The circuit on the PCB consists beside the voltage modules oftwo resistors in a row due to higher precision and two capacitors per modulecorresponding to the data sheet. A jack plug for charging the accumulatorand powering the robot from an external source is also added. The on-offswitch will later find its place on the control unit of the robot, so it is only5 Technical Report IfI-10-03Lessons learnedon flying wires here. All in all the robot control unit and the power supplyunit are connected by five cables. Two cables go to the on-off switch. Theother three are the two power rails and the ground rail (fig. 5). The linearvoltage regulators are on the robot PCB too. Testing showed that all voltagesare clean and stable for the whole load range. After some final adjustmentsof the layout the boards are finally manufactured and work fine. Figure 6shows, how the accumulator pack and the designed PCB are mounted withinthe robot.a) b)Figure 6: Power supply mounted in the robot a ) accumulator double pack b)PCB covering the accumulatorFigure 7: Circuitry, responsible for the unwanted spikes5 Lessons learnedFigure 8 shows the waveform of the voltage at the 3.3 V output. There is thenormal small ramping caused by the cyclic increase and decrease of the cur-DEPARTMENT OF INFORMATICS 6DEVELOPING A POWER SUPPLY SOLUTION FOR A MOBILE ROBOTFigure 8: The disturbed voltage at the 3.3V outputrent through the inductance superposed by spikes of approximately 500 mVat the begin of each ramp.Obviously the switching of the voltage regulator is responsible for the over-lapping spikes. The part of the circiut diagram with the switched high cur-rents is shown in fig. 7. It consists of the switching transistor T within thevoltage regulator, the catch diode D4 and the input capacitor C1. The othercurrents – the one from the input power supply and the one through the in-ductance – are without high switched currents so are probably not the causeof the spikes.When the transistor switches on, iT approximatly rises from zero to morethen 1A within few nanoseconds. Simultaniously the current iD reduces tozero. When the transistor switches off, iT turns to zero causing a jump ofiD by the same amount. The rise or fall of the current is so fast, that over thesmall inductances of the wiring with a fast oscilloscope the voltage drops canbe measured, especially over the inductanceLL parallel to the catch diode D.Figure 9 shows the oscillogram.And then the problem became obviouse. The output capacitor C2 is con-nected close to the anode of the catch diode, which leads to the circuit dia-gram in fig. 7 with output capacitor C2 in series with the wiring inductanceLL. Thus the output voltage is superposed by uLL. To check the assumption7 Technical Report IfI-10-03ReferencesFigure 9: The voltage uLLwe rearranged the output capacitor as indicated in fig. 7. As shown in fig. 10,the rearrangement of the capacitor almost solved the problem.6 ConclusionsElectronic design has its own philosophy. In contrast to software one can-not simply design a circuit from components that works at once, especiallya high frequency analog circuit. Sometimes, it is better to abandon an ownsolution and look for alternatives. Maybe it is – as here – right on the deskand needs only to be discovered.References[1] EAGLE website. http://www.cadsoft.de/.[2] HuBoTUC website.http://techwww.in.tu-clausthal.de/site/Projekte/HuBoTUC/.[3] Robonova website. http://www.robonova.com/.DEPARTMENT OF INFORMATICS 8DEVELOPING A POWER SUPPLY SOLUTION FOR A MOBILE ROBOTFigure 10: The voltage after rearranging C2 measured over C2[4] ZLDO500 5.0 volt ultra low dropout regulator.http://www.diodes.com/, 1997.[5] L18650 data sheet. http://www2.produktinfo.conrad.com/datenblaetter/250000-274999/251024-da-01-en-LI_ION_Akku_Samsung_L18650.pdf,2006.[6] LM26400Y Dual 2A, 500kHz Wide Input Range Buck Regulator.http://www.national.com/, 2007.[7] LM317L 3-Terminal Adjustable Regulator. http://www.national.com/,2008.[8] PTN78000W, PTN78000H 1.5-A, wide-input adjustable switching regu-lator. http://www.ti.com/, 2008.[9] PTN78060W, PTN78060H 3-A, wide-input adjustable switching regula-tor. http://www.ti.com/, 2009.[10] Spartan-3A DSP Starter, Platform User Guide. http://www.xilinx.com/,2009.[11] Günter Kemnitz. Technische Informatik 1: Elektronik. Springer, 2010.9 Technical Report IfI-10-03

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