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1. Hz filter on the analog input voltages Therefore if this VI is used for position then a filter is not required 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 68mm Bosch DV E5 throttle body The default values will work well for smaller throttle bodies with minor adjustments Note ThetaR should not be allowed to exceed the minimum and maximum angles of the throttle This will force the controller to drive more current than the throttle or module can sustain The force exerted may also mechanically damage the throttle body Driwen Inc 2009 Throttle Driver Module Kit User s Manual 0000017 Rev 24 Drivven Inc Throttle Driver Module Kit Compliance and Certifications Safety This product meets the requirements of the following standards of safety for electrical equipment for measurement control and laboratory use e IEC 61010 1 EN 61010 1 e UL61010 1 CSA 61010 1 Electromagnetic Compatibility This product meets the requirements of the following EMC standards for electrical equipment for measurement control and laboratory use e EN 61326 1 IEC 61326 1 Class A2. ModulePresent output of the throttle_rt_data_convert_revx vi ConirolEnable When TRUE the VI will generate active output values for the ThrottlePulseWidthTicks output When FALSE the VI will write 0 to the ThrottlePulseWidthTicks output B ThrottleCalibrations Collection of calibration parameters for controlling throttle position TLead sec Adjusts the lead compensation on the ThetaR value A lead lag compensation function is internally inserted in the ThetaR signal to the internal PID function TLead can be increased to intensify the change in ThetaR set TLag sec Adjusts the lag compensation on the ThetaR value A lead lag compensation function is internally inserted in the ThetaR signal to the internal PID function TLag can be increased to slow the change in ThetaR st V deg Proportional gain for the throttle control PID function while Theta is greater than ThetaLH Drivven Inc 2009 Throttle Driver Module Kit User s Manual 0000017 Rev B 18 Drivven Inc B B B B B B F 5 Throttle Driver Module Kit Tipos sec Integral time for the throttle control PID function while Theta is greater than ThetaLH The integral time is equivalent to the electro mechanical time constant of the throttle body Smaller integral times intensify the integral action When TI is set to zero the integral action is disabled TDpos sec Derivative time for the throttle control PID function while Th
3. Throttle1 PulseWidth The time during each Throttle1 Period in which the PWM pulse train to h bridge circuit 1 is active This value is signed and represents direction of current flow through the h bridge circuit A positive value represents positive current flowing from terminal H1B to H1A Throttle1PulseWidth is entered in terms of 4 MHz clock ticks While Throttle1 PulseWidth is 0 h bridge circuit 1 will remain inactive While Throttle1 PulseWidth is greater than or equal to Throttle1 Period h bridge circuit 1 will remain fully active This condition Driven Inc 2009 Throttle Driver Module Kit User s Manual 0000017 Rev 16 Drivven Inc Throttle Driver Module Kit should be avoided Otherwise an over current or over temp fault will result Throttle2PulseWidth The time during each Throttle2Period in which the PWM pulse train to h bridge circuit 2 is active This value is signed and represents direction of current flow through the h bridge circuit A positive value represents positive current flowing from terminal H2B Throttle2PulseWidth is entered in terms of 4 MHz clock ticks While Throttle2PulseWidth is 0 h bridge circuit 2 will remain inactive While Throttle2PulseWidth is greater than or equal to Throttle2Period 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 t
4. a LabVIEW Project Drivven recommends working from the provided example application as a starting point for learning the use of the Drivven software blocks However the following section describes starting a LabVIEW project from scratch and adding a Drivven module 1 Install the Drivven software by running the installer executable and accepting the software license agreement Restart LabVIEW if previously running and create a new LabVIEW project Give the new project a name by clicking the Save Project button on the project toolbar Right click on the highest item the project hierarchy Project and navigate to New gt Targets and Devices 5 Within the Add Targets and Devices dialog select the appropriate radio button depending on whether you already have an existing powered and configured RT target on the network or if you are adding a new RT target which is not present yet on the network a Existing Target or Device i Expand the appropriate category in the Targets and Devices list to see the discovered targets in that category ii Double click the desired target to add it to your project b New Target or Device i Expand the appropriate category in the Targets and Devices list to see all possible targets within that category ii Double click the desired target to add it to your project If the new RT target is not currently on the network right click on the RT target within t
5. 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 RT or FPGA target VIs for a specific Drivven product will be categorized according to product name Also some Drivven products will install RT and FPGA VIs under a General function palette which is intended to be used across multiple products Requirements The Drivven VIs require gt LabVIEW 8 5 Full Development or later gt LabVIEW RT Module 8 5 or later gt LabVIEW FPGA Module 8 5 or later gt NI RIO 2 4 or later The Electronic Throttle Driver Module Kit is provided with both a LabVIEW FPGA VI for interfacing directly to the module and two LabVIEW RT Vlis for interfacing with the FPGA VI and controlling throttle position Figure 4 shows the icon which represents FPGA throttle_revx vi ThrottleControl ThrottleData ThrottlePinInput ThrottlePinOutput Figure 4 FPGA VI icon with leads Driwen Inc 2009 Throttle Driver Module Kit User s Manual 0000017 Rev 12 Drivven Inc Throttle Driver Module Kit Figure 5 shows the icon which represents throttle_rt_data_convert_revx vi This VI is used to convert raw data from the FPGA to engineering units at the RT level The outputs from this VI should be wired to the throttle_r
6. setpoint reference ThetaR is compensated by a user defined lead and lag time These parameters will sharpen or dull the changes in setpoint 2 A proportional integral and derivative action is calculated based on two sets of PID gains above or below the default limp home region The reason for two sets of gains is because electronic 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 to assist with small error control When the throttle plate approaches the setpoint stiction in the throttle motor gearing can be significant enough such that PID control alone will cause integral overshoot Stiction compensation will apply small alternating forces to assist the PID integral action 5 Battery voltage compensation is optionally added to the final output to compensate for battery voltage fluctuations away from the nominal voltage In general the final voltage V 15 of 3 components and optionally multiplied by a battery compensation factor V PID V Stiction Comp V Limp Home Comp V Battery Comp Factor The first calibration which the user should tune is throttle angle ve
7. DRIVVEN A National Instruments Company Throttle Driver Module Kit User s Manual 0000017 Rev March 2012 DRIVVEN WWW DRIVVEN COM Drivven CompactRIO Throttle Driver Module Part D000017 2 Ch H Bridge Driver 2 Ch Analog Input Driwen 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 Drivven Inc Throttle Driver Module Kit Contents POCO OM 3 E 4 HardWafe sisson eaae E pss 5 Powering the Mod ule u u A 5 Platform Compatibility a n 6 H Bridg 8 Analog unun aa aas aea iaaa eiia sce Ea aaa E 8 Software reta eere e aE E EE RESES 12 Creating a LabVIEW aiiai 14 Sub sssrin 16 Throttle Controla oeae Smear rennet ate E 23 Compliance and Certifications n 25 Physical Specifications and Characteristics 26 Drivven Inc 2009 Throttle Driver Module Kit User s Manual D000017 Rev B 2 Drivven In
8. Interface mode auto detection and ID mode not supported for Drivven modules Driwen Inc 2009 Throttle Driver Module Kit User s Manual 0000017 Rev 7 Drivven Inc Throttle Driver Module Kit H Bridge Drivers The Electronic Throttle Driver Module Kit provides a CompactRIO cRIO module for driving passenger car electronic throttle bodies up to 70mm in diameter A typical example of electronic throttle bodies which this module is capable of driving is the Bosch DV E5 series which range from 32mm to 68mm in diameter However the module is capable of driving most other electronic throttle bodies within that size range Each h bridge circuit is capable of driving 3A continuously and 6A peak It provides current sensing feedback as well as over current and over temp protection In the case of a short circuit where 10A is exceeded or a temperature of 140 C is exceeded within the driver FETs a fault flag will be generated and the circuit will shutdown until the fault condition is removed However Drivven recommends monitoring the current and temperature values and disabling the circuit programmatically if current exceeds 6A or the internal module temperature exceeds 85 C The temperature is automatically monitored within the throttle_rt_control vi Each h bridge circuit automatically eliminates shoot through current and provides internal clamp diodes for inductive loads Analog Inputs The Electronic Throttle Dri
9. Within the example projects notice the FPGA I O node elements having module name prefixes 14 Some Drivven modules can be automatically recognized by LabVIEW when adding cRIO modules to the project However Drivven does not recommend using this feature because the module names which are automatically assigned are not meaningful Mod1 Mod2 etc and can lead to coding mistakes when wiring the Drivven FPGA VIs to the I O nodes Adding the modules to the project manually as described above is still the recommended method Driwen Inc 2009 Throttle Driver Module Kit User s Manual 0000017 Rev 15 Drivven Inc Throttle Driver Module Kit Sub VI Documentation throttle_revb vi This VI is for interfacing directly with the Drivven Throttle Driver module and for providing a control interface to the LabVIEW RT level The FPGA VI must be placed within a Single Cycle Loop SCL of a LabVIEW FPGA block diagram The SCL must execute at the default clock rate of 40 MHz The FPGA VI requires a pre synthesized netlist file having a matching name and an extension of The netlist file must be located in the same directory as the matching VI The installer will place this file in the LabVIEW addons directory along with the FPGA VI The PinInput and PinOutput clusters are wired to LabVIEW FPGA I O nodes which are configured for a cRIO controller chassis or a CRIO R Series expansion chassis Refer to the LabVIEW FPGA documenta
10. c Throttle Driver Module Kit Introduction The Electronic Throttle Driver Module Kit provides a CompactRIO cRIO module for driving passenger car electronic throttle bodies up to 70mm in diameter A typical example of electronic throttle bodies which this module is capable of driving is the Bosch DV E5 series which range from 32mm to 68mm in diameter However the module is capable of driving most other electronic throttle bodies within that size range The Electronic Throttle Driver Module Kit includes a LabVIEW FPGA 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 listed below Features 2 Ch H Bridge Drivers for dual electronic throttle control 2 Ch analog input for throttle position feedback Short circuit and over temperature protection with fault reporting Battery voltage current sensing and module temperature measurements LabVIEW FPGA VI for h bridge control and interface LabVIEW RT VI for electronic throttle position control External power supply of 6 32V y v Vv V V v v Drivven Inc 2009 Throttle Driver Module Kit User s Manual D000017 Rev B 3 Drivven Inc Thr
11. c throttle body Driven Inc 2009 Throttle Driver Module Kit User s Manual 0000017 Rev 9 Drivven Inc Throttle Driver Module Kit 12V Battery H1B Motor H1A Motor H2B Motor H2A Motor Out Position Ref High AN1 Position Signal 1 2 Position Signal GND Position Ground Z QO O Figure 3 Module terminal connections to dual electronic throttle bodies Table 1 Connection table specific for standard Bosch DV E5 electronic throttle bodies DV E5 Pin Description Description 1 Motor 2 4 2 Potentiometer Ground T8 GND 3 Potentiometer Reference T5 5V Out 4 Motor T1 T3 H1B H2B 5 Potentiometer 2 Signal T6 17 AN1 AN2 6 Potentiometer 1 Signal 6 7 AN1 AN2 Drivven Inc 2009 Throttle Driver Module Kit User s Manual D000017 Rev 10 Drivven Inc Throttle Driver Module Kit Standard Bosch DV E5 electronic throttle bodies are available through Drivven according to the following part numbers list in table 2 Prices and availability vary Table 2 Standard Bosch DV E5 throttle bodies available through Throttle Body 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 purchase
12. d 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 standard Bosch DV E5 throttle bodies Connector Part Description AMP Part Number Connector Housing 1 967616 1 Crimp Socket Contact Tin 965906 1 Wire Seal 967067 1 Driwen Inc 2009 Throttle Driver Module Kit User s Manual 0000017 Rev 11 Drivven Inc Throttle Driver Module Kit Software Installer The Electronic Throttle Driver Module Kit is provided with an installer package which may be downloaded from Drivven s Sharepoint website after obtaining login access from Drivven User s may go to https portal drivven com SoftwareDownload and enter the provided username and password to gain access to the specific product installer packages which have been purchased The installer packages are executables which should be run on the intended development computer having LabVIEW development tools installed After installing the package a Start gt Programs gt Drivven gt ProductRelease menu item will be added to the desktop The specific product will have an example LabVIEW project appear under the Examples menu and the user manual will appear under the Manuals menu User s may copy and open the example project to experiment with the module or use as a starting point for a new application All software
13. e 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 assigned slot powered at the BATT 0 terminal and ModuleEnable must be TRUE After the ModulePresent Boolean is set to TRUE if the power at BATT 0 terminal is removed then the ModulePresent Boolean will reset to FALSE If power is reapplied while ModuleEnable Boolean remains TRUE then ModulePresent will return to TRUE and the module will begin operating After the ModulePresent Boolean is set to TRUE if the module is removed from its slot then the ModulePresent Boolean will be set to FALSE If the module is reinserted then it will be detected again and begin operating ModulePresent should be wired directly to the ModulePresent input of the throttle_rt_control vi Fault When TRUE then an over current or over temperature fault has occurred with h bridge circuit 1 and operation will be interrupted until the fault is removed Driwen Inc 2009 Throttle Driver Module Kit User s Manual 0000017 Rev 21 Drivven Inc Throttle Driver Module Kit 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 Driwen Inc 2009 Throttle Driver Module Kit User s Manual 0000017 Rev 22 Drivven Inc Throttle Driv
14. e user manual for tuning hints The throttle_rt_control vi RT VI and throttle_rt_data_convert_revx vi must be placed within a while loop or timed loop and executed at a recommended rate of 100 200 Hz 5 10 msec period This rate provides good throttle control capability A reference must be opened to a LabVIEW FPGA application which implements the throttle_revx vi Also FPGA read write register functions must be placed within the RT loop to gain access to the ThrottleControl and ThrottleData clusters of the FPGA throttle_revx vi The values given by the throttle_rt_data_convert_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_control vi Temperature C Battery V ModulePresent ControlEnable ThrottlePeriodTicks ThrottleCalibrations ThrottlePulseWidthTicks ThrottleControlCalcs dt sec E Temperature C The internal temperature of the module in degrees C as calculated by the throttle_rt_data_convert_revx vi st Battery V The battery voltage supplied to the module as calculated by the throttle_rt_data_convert_revx vi ModulePresent Should be wired directly from the
15. emissions Industrial immunity e EN 55011 CISPR 11 Group 1 Class A emissions e AS NZS CISPR 11 Group 1 Class A emissions e FCC 47 CFR Part 15B Class A emissions e ICES 001 Class emissions Caution When operating this product use shielded cables and accessories CE Compliance This product meets the essential requirements of applicable European Directives as follows e 2006 95 EC Low Voltage Directive safety e 2004 108 EC Electromagnetic Compatibility Directive EMC Environmental Management NI is committed to designing and manufacturing products in an environmentally responsible manner NI recognizes that eliminating certain hazardous substances from our products is beneficial to the environment and to NI customers For additional environmental information refer to the NI and the Environment Web page at ni com environment This page contains the environmental regulations and directives with which NI complies as well as other environmental information not included in this document Waste Electrical and Electronic Equipment WEEE EU Customers At the end of the product life cycle all products must be sent a WEEE recycling center For more information about WEEE recycling centers National Instruments WEEE initiatives and compliance with WEEE Directive 2002 96 EC on Waste Electrical and Electronic Equipment visit com environment weee Battery Replacement and Disposal Battery Directive This device co
16. er Module Kit Throttle Control Drivven provides a flexible throttle position control algorithm with the Throttle Driver Module Kit Please follow the throttle control example provided for implementing throttle control in your engine control application Drivven recommends performing throttle control at a rate of 100 200 Hz Even if your engine control algorithms require execution at another rate a separate timed loop can be created to implement throttle control The throttle control VI uses position values in terms of degrees However percentages can be used instead This document does not go into detail about the procedures for tuning a typical PID loop There are many texts available which cover that topic It is expected that the user of this module kit be familiar with PID control concepts The throttle control algorithm calculates a final voltage to be applied to the throttle body DC motor The final voltage is applied by means of a PWM duty cycle with battery voltage being the maximum possible voltage The control voltage may be compensated for actual battery voltage ass deviating from the nominal battery voltage according to BattCompEnable The compensated voltage is converted to a signed PWM duty cycle at a fixed frequency of 500 Hz The throttle control VI output results are in terms of 40 MHz clock ticks to be wired to the FPGA period and pulse width parameters The throttle control algorithm involves 4 major functions 1 The angle
17. eta is greater than ThetaLH The derivative time is proportional to the electro mechanical time constant of the throttle body Larger times intensify the derivative action When TD is set to zero the derivative action is disabled KRneg V deg Proportional gain for the throttle control PID function while Theta is less than or equal to ThetaLH TIneg sec Integral time for the throttle control PID function while Theta is less than ThetaLH The integral time is equivalent to the electro mechanical time constant of the throttle body Smaller integral times intensify the integral action When TI is set to Zero the integral action is disabled TDneg sec Derivative time for the throttle control PID function while Theta is less than ThetaLH The derivative time is proportional to the electro mechanical time constant of the throttle body Larger times intensify the derivative action When TD is set to Zero the derivative action is disabled 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 assist throttle control through the region ULHLag sec Lag filter time applied to the limp home com
18. he project and open the properties dialog to set the IP address or DNS name if necessary Right click on the RT target within the project and navigate to New gt Targets and Devices 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 Targets and Devices list to see the discovered FPGA targets in that category ii Double click the desired target to add it to your project b New Target or Device i Expand the appropriate category in the Targets and Devices list to see all possible targets within that category ii Double click the desired target to add it to your project If the new FPGA target was not currently in the system right click on the FPGA target within the project and open the properties dialog to set the resource name if necessary The resource name can be found from MAX when connected to the actual remote system 10 If the FPGA target is a PXI or PCI card then an R Series expansion chassis must be added under the FPGA target This is done by right clicking on the FPGA target and navigating to New gt R Series Expansion Chassis Within the following dialog select the appropriate FPGA connector to which the chassis will be connected A u
19. heir 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 throttle_rt_data_convert_revx vi at the RT level No FPGA code interface is required with any of the members of this cluster ThrottlePinOutput The Boolean indicator named IDSelectEn must be connected to a Set Output Enable method of an FPGA I O Method Node The Boolean indicator named IDSelectOut must be connected to a Set Output Data method of an FPGA I O Method Node The remaining Boolean indicators must be connected to their corresponding FPGA I O Node output item Driwen Inc 2009 Throttle Driver Module Kit User s Manual 0000017 Rev 17 Drivven Inc Throttle Driver Module Kit throttle_rt_control vi This VI implements electronic throttle position control at the RT level using three algorithms The first algorithm is PID control using two sets of gains One set of gains is for positions above ThetaLH and the other set is for positions below ThetaLH The second control algorithm is to compensate the output for travel through the vicinity of the ThetaLH position as there is a change in spring return force at that position The third control algorithm is to compensate the output for stiction which is most effective while positional errors are small Please refer to the context help of the individual tuning parameters as well as th
20. hrottle Driver Module Kit User s Manual 0000017 Rev B 20 Drivven Inc Throttle Driver Module Kit throttle_rt_data_convert_revb vi This VI receives the ThrottleData cluster from the FPGA VI and converts the raw data to engineering units The module presence and fault status for each H Bridge are also indicated Each of the analog values are low pass filtered according to the following cutoff frequencies ISense1 V 25 Hz ISense2 V 25 Hz Analog1 V 25 Hz Analog2 V 25 Hz Battery V 1 Hz Temperature C 1 Hz ISense 1 A 2 Analog1 ThrottleData Analog2 V dt sec Battery V i Temperature C ModulePresent Fault2 Fault1 B ThrottleData The ThrottleData Cluster input should be fed with the cluster wire from the ThrottleData output cluster of the FPGA No other RT code interface is required with any of the members of this cluster dt sec Interval in seconds at which this VI is called ISense1 A The filtered load current of h bridge circuit 1 in amps ISense2 A The filtered load current of h bridge circuit 2 in amps 1 V The filtered voltage of external analog input 1 Analog2 V The filtered voltage of external analog input 2 Battery V The filtered battery voltage supplied to the module Temperature C The filtered internal module temperature aj 7 ModulePresent When TRUE then software has properly detected a Throttl
21. is for the convenience of connecting all wires of an electronic throttle directly to the module Then the Drivven Inc 2009 Throttle Driver Module Kit User s Manual D000017 Rev B 8 Drivven Inc Throttle Driver Module Kit user may programmatically use the analog values for throttle control feedback Other analog inputs from another module may also be used to provide throttle position Most electronic throttle bodies have redundant position signals When using only one electronic throttle both position signals may be connected to the module and redundant throttle position is available However 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 Figure 2 and figure 3 below show the typical connections for controlling single or dual throttles respectively Table 1 below shows the module terminal connections to a standard Bosch DV E5 electronic throttle body 12V Battery H1B Motor H1A Motor 5V Out Position Ref High AN1 Position Signal 1 AN2 Position Signal 2 GND Position Ground OOAN Oa B QO O Figure 2 Module terminal connections to a single electroni
22. nder full load requires up to 60W peak and 30W continuous Driving two throttles at full load requires up to 120W peak and 60W continuous This module requires both external power and power from the CompactRIO backplane The module is designed in such a way that the high current path is directed through the BATT 0 and GND 9 terminals on the front of the module and not through the HD15 backplane connector The module will not be recognized by software without both power supplies active Warning The external battery supply input terminals are not reverse voltage polarity protected Connecting power to the module in reverse polarity will damage the module This event is not covered by the warranty Please refer to the DrivvenReverseBatteryNotice pdf document available on the website for a recommended solution for protecting a system from reverse battery polarity Driven Inc 2009 Throttle Driver Module Kit User s Manual 0000017 Rev 5 Drivven Inc Throttle Driver Module Kit Platform Compatibility CompactRIO modules from Drivven are compatible within two different platforms from National Instruments One platform is CompactRIO consisting of a CompactRIO controller and CompactRIO chassis as shown in Figure 1a below Figure 1a CompactRIO platform compatible with Drivven CompactRIO modules The other platform is National Instruments PXI which consists of any National Instruments chassis along with a PXI RT con
23. nique name for the chassis may also be specified 11 Right click on the R Series expansion chassis or cRIO FPGA target chassis and navigate to New gt C Series Modules 12 Select the New Target or Device radio button and double click on the C Series Module in the Targets and Devices list the following dialog select the desired Drivven module at the bottom of the Module Type list The Drivven modules will be appended there if any Drivven module software has been installed Select the appropriate module 2 3 4 lt Driwen Inc 2009 Throttle Driver Module Kit User s Manual 0000017 Rev 14 Drivven Inc Throttle Driver Module Kit location Finally specify an appropriate name for the module which will later appear in the FPGA I O nodes in the FPGA block diagram Having meaningful module names is important for preventing coding mistakes 13 After adding a module to the project a folder will automatically be added to the project having the same module name given in the module configuration dialog The folder will contain the FPGA I O pins for the module slot These I O pins can be selected in the block diagram when connecting the module VI Pinlnput and PinOutput clusters to FPGA nodes The example application discussed below should be consulted for further details about connecting the PinInput and PinOutput clusters to FPGA I O nodes
24. ntains a long life coin cell battery If you need to replace it use the Return Material Authorization RMA process or contact an authorized National Instruments service representative For more information about compliance with the EU Battery Directive 2006 66 EC about Batteries and Accumulators and Waste Batteries and Accumulators visit ni com environment batterydirective Driven Inc 2009 Throttle Driver Module Kit User s Manual 0000017 Rev 25 Drivven Inc Throttle Driver Module Kit Management Methods for Controlling Pollution Caused by Electronic Information Products Regulation China RoHS Chinese Customers National Instruments is in compliance with the Chinese policy on the Restriction of Hazardous Substances RoHS used in Electronic Information Products For more information about the National Instruments China RoHS compliance visit ni com environment rohs_ china HABE tn AREA rH RoHS National Instruments 6 EES RoHS FNational Instruments HERoHS ni com environment rohs_china For information about China RoHS compliance to ni com environment rohs_china Ferrite Requirement for EMC Compliance Install clamp on ferrite beads onto both the power supply cable and the signal cables Power to the module must be off when adding ferrites Ferrites must be connected to the power cable and the signal cable as close to the module as possible Placing the fer
25. ottle Driver Module Kit Pinout 2 2 2 3 4 5 6 f 8 9 Drivven Inc 2009 Throttle Driver Module Kit User s Manual D000017 Rev 4 Drivven Inc Throttle Driver Module Kit Hardware The Electronic Throttle Driver Module Kit provides two H Bridge drivers and analog position feedback in a National Instruments CompactRIO module Powering the Module The Electronic Throttle Driver module requires power from two different sources One source is from the CompactRIO backplane male high density D Sub 15 pin HD15 connector which mates with the module s female HD15 connector This power source provides a regulated 5 volts and ground to various digital logic functions within the module The CompactRIO 5V source is active whenever the CompactRIO or R Series Expansion Chassis is properly powered The module should only be powered at the HD15 connector by plugging it into a CompactRIO or R Series Expansion Chassis The module s HD15 connector should not be connected to any other device Another required power connection is at the external screw 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 u
26. pensation A lag time prevents uLHc from reversing directions too fast US V Voltage added to or subtracted from the PID output when Theta is outside the vicinity of ThetaLH US is a stiction compensation value This parameter assists throttle control during small Theta errors to overcome stiction Parameter uFc is updated to a positive or negative value according to the sign of ThetaR Theta error and added to the PID output USLag sec Lag filter time applied to the stiction compensation A lag time prevents uFc from reversing directions too fast ThetaLH deg Limp home angle This is the default throttle position which results from no power being applied to the motor MotorResistance Ohms The resistance of the motor winding must be entered here A digital multi meter DMM can be used to measure this This value is used to determine output ranges BattNom V The nominal battery voltage supplied to the module Most automotive systems operate with 12V This would be the nominal battery voltage The actual voltage may fluctuate around the nominal BattCompEnable When TRUE the VI will compensate the throttle output for the Driven Inc 2009 Throttle Driver Module Kit User s Manual 0000017 Rev B 19 Drivven Inc Throttle Driver Module Kit deviation of Battery compared to BattNom When FALSE the throttle output will not be compensated Battery compensation has a small effect Theta deg The latest feedback thro
27. rite 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 four turns through ferrite H1B H1A H2B H2A Wurth Electronics 7427154 four turns through ferrite Physical Specifications and Characteristics Weight 145 grams Maximum Altitude 2000 m Operating Temperature 40 C to 70 C Maximum Ambient Temperature 60 C Operating Humidity 10 to 90 RH noncondensing Pollution Degree 2 Ingress Protection IP30 For Indoor Use Only If you need to clean the module wipe it with a dry towel Safety Guidelines A Caution Do not operate this module in a manner not specified in these operating instructions Product misuse can result in a hazard You can compromise the safety protection built into the product if the product is damaged in any way If the product is damaged return it to National Instruments for repair Driven Inc 2009 Throttle Driver Module Kit Manual 0000017 Rev 26
28. rsus sensor voltage A linear equation can be used as well as a two point 1D lookup table Manually close the throttle plate completely to determine the minimum sensor voltage If the radii of the throttle body opening and the throttle plate are measured then the minimum throttle angle can be calculated by using an inverse cosine calculation or by approximating the small angle with sine Manually open the throttle plate to wide open throttle noting the maximum sensor voltage Assume the wide open throttle angle to be 90 degrees After calibrating for position versus voltage enter the value for ThetaLH default limp home position It is recommended that the sensor voltages entered into the position calibration for the upper and lower limits be slightly narrowed so that position control at these points does not overwork the driver trying to achieve positions that are not possible as sensing conditions change Another way to prevent this condition is to limit the setpoint range to Driven Inc 2009 Throttle Driver Module Kit User s Manual 0000017 Rev 23 Drivven Inc Throttle Driver Module Kit a small position away from the physical limits It is recommended that a filter be implemented on throttle position A second order lowpass Butterworth filter with a cuttoff frequency of 25Hz is suggested The filter is most effective during small error control Please note that the throttle_rt_data_convert_revx vi already implements a 25
29. t_control vi ISense 1 A ISense2 Analog1 V Analog2 V Battery V i Temperature C ModulePresent Figure 5 Throttle Data RT VI icon with leads Figure 6 shows the icon which represents throttle_rt_control vi This VI is used at the RT level and accepts engineering unit data from the throttle_rt_data_convert_revx 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 Temperature C Battery V ModulePresent ControlEnable gt ThrottleCalibrations Theta deg ThetaR deg dt sec ThrottlePeriodTicks ThrottlePulseWidthTicks ThrottleControlCalcs Figure 6 Throttle Control RT VI icon with leads The FPGA VI must be placed within a Single Cycle Loop SCL of a LabVIEW FPGA block diagram The SCL must execute at the default clock rate of 40 MHz The FPGA VI requires a pre synthesized netlist file having a matching name and an extension of ngc The netlist file must be located in the same directory as the matching VI The installer will place this file in the LabVIEW addons directory along with the FPGA VI Driven Inc 2009 Throttle Driver Module Kit User s Manual 0000017 Rev B 13 Drivven Inc Throttle Driver Module Kit Creating
30. tion for details about creating and configuring FPGA I O nodes Connector Pane ThrottleControl ThrottleData ThrottlePinInput ThrottlePinOutput Controls and Indicators ThrottleControl This cluster contains the main enable Boolean watchdog Boolean and PWM parameters for each H Bridge channel ModuleEnable If a throttle driver module is inserted in the proper slot externally powered and ModuleEnable is TRUE then software begins communicating with the module and allows the module to operate When the module is properly recognized then the ModulePresent Boolean within the ThrottleData cluster will be set to TRUE Watchdogln 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 it is intended Throttle1Period The time period between leading edges of the PWM pulse train to h bridge circuit 1 Throttle1 Period is entered in terms of 4 MHz clock ticks This provide a maximum period of 8 192 milliseconds or a minimum frequency of 122 Hz and a resolution of 250 nsec Throttle2Period The time period between leading edges of the PWM pulse train to h bridge circuit 2 Throttle2Period is entered in terms of 4 MHz clock ticks This provides a maximum period of 8 192 milliseconds or a minimum frequency of 122 Hz and a resolution of 250 nsec
31. troller and PXI 78xxR R Series FPGA card An R Series expansion chassis 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 systems described above in order to function The modules may not be used by themselves and or interfaced to third party devices at the backplane HD15 connector These efforts cannot be supported by Drivven or National Instruments You can use Drivven Series modules with NI cRIO 911x NI cRIO 907x and NI R Series Expansion systems under the following conditions Leave one empty chassis slot between Drivven and NI modules Driwen Inc 2009 Throttle Driver Module Kit User s Manual 0000017 Rev 6 Drivven Inc Throttle Driver Module Kit Maintain an ambient system operating temperature of 0 to 45 C Typical specifications 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 systems using Drivven modules Scan
32. ttle angle degrees of the throttle body under control ThetaR deg The requested angle setpoint degrees of the throttle body under control dt sec Interval in seconds at which this VI is called BBB B ThrottlePeriodTicks Number of 4 MHz clock ticks required to achieve 500 Hz PWM frequency to the h bridge circuit Should be wired to the FPGA to the throttle_revx vi ThrottleControl cluster for the desired channel B ThrottlePulseWidthTicks Signed 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 B ThrottleControlCalcs This output cluster is for monitoring purposes only It provides the latest values from the PID Limp Home Compensation and Stiction Compensation algorithms B ThetaFF deg Value calculated by the Lead Lag compensator function on ThetaR The effects of TLead and TLag can be seen on this parameter This parameter is the setpoint given to the throttle PID algorithm AboveLH Indicates whether Theta is above ThetaLH uLHc V Limp home region compensation added to PID calculation uFc V Stiction compensation added to PID calculation uPID V PID control result V Control value calculated from the sum of uPID uLHc and uFc uBattComp V Final control value compensated for actual battery voltage Driven Inc 2009 T
33. ver 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 the H Bridge driver terminals or BATT terminal Other analog signals are also measured internal to the module and reported by the supplied VIs All measured analog signals are listed below Battery Voltage V H Bridge 1 Current A H Bridge 2 Current A H Bridge 1 Fault Line reported with boolean T Fault F No Fault H Bridge 2 Fault Line reported with boolean T Fault F No Fault External Analog Input 1 0 5V Screw Terminal 6 External Analog Input 2 0 5V Screw Terminal 7 Internal Module Temperature y v Vv V V Vv V V All eight analog inputs are sampled with a single multiplexed A D converter at an aggregate rate of 17 84 KHz Therefore each analog signal is sampled at 2 23 KHz The A D result can be used directly at the FPGA level in ADC counts or at the RT level in converted engineering units The external analog inputs are protected from 6V to 12V inputs The external analog inputs are independent from throttle control algorithms and may be used in any manner the user deems necessary The intended purpose of the external analog inputs
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