Differential Drive Doesn’t Quite Work As Expected

June 6, 2021 by Bryan Cockfield 10 Comments

Placing two motors together in a shared drive is a simple enough task. By using something like a chain or a belt to couple them, or even placing them on the same shaft, the torque can be effectively doubled without too much hassle. But finding a way to keep the torque the same while adding the speeds of the motors, rather than the torques, is a little bit more complicated. [Levi Janssen] takes us through his prototype gearbox that attempts to do just that, although not everything works exactly as he predicts.

The prototype is based on the same principles as a differential, but reverses the direction of power flow. In something like a car, a single input from a driveshaft is sent to two output shafts that can vary in speed. In this differential drive, two input shafts at varying speeds drive a single output shaft that has a speed that is the sum of the two input speeds. Not only would this allow for higher output speeds than either of the two motors but in theory it could allow for arbitrarily fine speed control by spinning the two motors in opposite directions.

The first design uses two BLDC motors coupled to their own cycloidal drives. Each motor is placed in a housing which can rotate, and the housings are coupled to each other with a belt. This allows the secondary motor to spin the housing of the primary motor without impacting the actual speed that the primary motor is spinning. It’s all a lot to take in, but watching the video once (or twice) definitely helps to wrap one’s mind around it.

The tests of the drive didn’t go quite as planned when [Levi] got around to measuring the stall torque. It turns out that torque can’t be summed in the way he was expecting, although the drive is still able to increase the speed higher than either of the two motors. It still has some limited uses though as he notes in the video, but didn’t meet all of his expectations. It’s still an interesting build and great proof-of-concept otherwise though, and if you’re not clear on some of the design choices he made there are some other builds out there that take deep dives into cycloidal gearing or even a teardown of a standard automotive differential.

Continue reading “Differential Drive Doesn’t Quite Work As Expected” →

Shoot Above The Waves On This E-Foil Made From A Rifle Case

April 7, 2021 by Dan Maloney 17 Comments

So you say you want to fly above the waves on an electric hydrofoil, but you don’t have the means to buy a commercial board. Or, you don’t have the time and skills needed to carve a board and outfit it with the motor and wing that let it glide above the water. Are you out of luck? Not if you follow this hackworthy e-foil build that uses a waterproof rifle case as the… hull? Board? Whatever, the floaty bit.

If you haven’t run across an e-foil before, prepare to suddenly need something you never knew existed. An e-foil is basically a surfboard with a powerful brushless motor mounted on a keel of sorts, fairly far below the waterline. Along with the motor is a hydrofoil to provide lift, enough to raise the board well out of the water as the board gains speed. They look like a lot of fun.

Most e-foils are built around what amounts to a surfboard, with compartments to house the battery, motor controller, and other electronics. [Frank] and [Julian] worked around the difficult surfboard build by just buying a waterproof rifle case. It may not be very hydrodynamic, but it’s about the right form factor, it already floats, and it has plenty of space for electronics. The link above has a lot of details on the build, which started with reinforcing the case with an aluminum endoskeleton, but at the end of the day, they only spent about 2,000€ on mostly off-the-shelf parts. The video below shows the rifle case’s maiden voyage; we were astonished to see how far and how quickly the power used by the motor drops when the rifle case leaves the water.

Compared to some e-foil builds we’ve seen, this one looks like a snap. Hats off to [Frank] and [Julian] for finding a way to make this yet another hobby we could afford but never find time for.

Continue reading “Shoot Above The Waves On This E-Foil Made From A Rifle Case” →

Custom Controller Makes Turbomolecular Pump Suck

January 6, 2021 by Anool Mahidharia 16 Comments

[Mark Aren] purchased a pair of Turbomolecular pumps (TMP) sans controllers, and then built an FPGA based BLDC controller for the Turbomolecular pumps. A TMP is similar to a jet turbine, consisting of several stages of alternating moving turbine blades and stationary stator blades, and having turbine rotation speeds ranging from 10,000 rpm to 90,000 rpm. TMP’s cannot exhaust directly to atmosphere, and must be combined with a backing (or roughing) pump to create a lower grade vacuum first. They find use in lots of applications such as electron microscopy, analytical sciences, semiconductors and lamp manufacturing. With the lamp industry rapidly embracing LEDs, many of the traditional lamp making lines are getting decommissioned, and if you are lucky, you can snag a TMP at a low cost – but it still will not be cheap by any means.

The two BOC-Edwards EXT255H Compound Molecular Pumps (PDF), that [Mark] bought did not have their accompanying EXC100E Turbomolecular Pump Controllers (PDF), and given pandemic related restrictions, he decided to build a controller of his own, using components and modules from his parts bin. The pump and controller user manuals offered only sketchy details about the sensored BLDC motor used in the pump. The low phase-to-phase resistance implied low drive voltage, and [Mark] decided to try running it at 24 V to start with. He already had experience using the Mitsubishi PS21245-E IGBT inverter bridge, and even though it was rated for much higher voltages, he knew that it would work just fine at 24 V too.

After figuring out a state machine for motor commutation that utilized PWM based adjustable current control, he implemented it on a 128 element FPGA board. Considering how expensive the TMP was, he wisely decided to first try out his driver on a smaller “expendable” BLDC motor. This whole process was non-trivial, since his available IGBT module was untested and undocumented, and required several tweaks before he could run it at the required 12 kHz PWM signals. His test motor was also undocumented, failing to run correctly when first hooked up. Fixing that issue meant having to disassemble the motor to check its internal wiring. Eventually, his efforts paid off, and he was able to safely run the TMP motor to confirm that his design worked.

With FPGA code, IGBT wiring and power supply issues sorted, the next step was to add a supervisory micro-controller, using an Arduino Nano. Its functions included interfacing with a touch screen LCD as a user interface, communicating with the FPGA module, and controlling several relays to switch power to the motor power supply, the roughing pump, TMP cooling fan, and a solenoid for the vacuum vent. Spindle current is calculated by measuring voltage drop across shunt resistors on the low side of the IGBT. Motor speed is measured using one of the motor hall sensors, and a thermistor provides motor temperature sensing. [Mark]’s PCB fabrication technique seems a bit different too. Using an Excellon drill file, he drills holes in a piece of plastic using a laser cutter to create a bare board, and then solders copper tracks by hand.

His initial tests at atmospheric pressure (although not recommended unless you monitor pump temperature), resulted in 7300 rpm while consuming about 7 Amps before he had to shut it down. In further tests, after adding a roughing pump to the test setup, he was able to spin the TMP to 20,000 rpm while it consumed 0.6 A. Obviously, the pump is rated to operate at a higher voltage, possibly 48 V based on the values mentioned in the TMP controller manual. The project is still “work in progress” as [Mark] hopes to eventually drive the pump up to its specified 60,000 rpm operating speed. What is not clear is what he eventually intends to do with this piece of exotic machinery. All he mentions is that “he has recently taken an interest in high-vacuum systems and is interested in exploring the high-vacuum world of electron guns.”

Maybe [Mark] can compare notes with the Open Source Turbomolecular Pump Controller that we featured some time back. And if you’d like to be a little bit more adventurous and build you own TMP, we got you covered with this DIY Everyman’s Turbomolecular Pump.

How To Improve A Smart Motor? Make It Bigger!

November 7, 2020 by Donald Papp 25 Comments

Brushless motors can offer impressive torque-to-size ratios, and when combined with complex drive control and sensor feedback, exciting things become possible that expand the usual ideas of what motors can accomplish. For example, to use a DC motor in a robot leg, one might expect to need a gearbox, a motor driver, plus an encoder for position sensing. If smooth, organic motion is desired, some sort of compliant mechanical design would be involved as well. But motors like the IQ Vertiq 6806 offered by [IQ Motion Control] challenge those assumptions. By combining a high-torque brushless DC motor, advanced controller, and position sensing into an integrated device, things like improved drone performance and direct-drive robotic legs like those of the Mini Cheetah become possible.

IQ Vertiq 6806 brushless DC motor with integrated controller, driver, and position sensing.

First, the bad news: these are not cheap motors. The IQ Vertiq 6806 costs $399 USD each through the Crowd Supply pre-order ($1499 for four), but they aren’t overpriced for what they are. The cost compares favorably with other motors and controllers of the same class. A little further than halfway down the Crowd Supply page, [IQ Motion Control] makes a pretty good case for itself by comparing features with other solutions. Still, these are not likely to be anyone’s weekend impulse purchase.

So how do these smart motors work? They have two basic operating modes: Speed and Position, each of which requires different firmware, and which one to use depends on the intended application.

The “Speed” firmware is designed with driving propeller loads in mind, and works a lot like any other brushless DC motor with an ESC (electronic speed control) on something like a drone or other UAV. But while the unit can be given throttle or speed control signals like any other motor, it can also do things like accept commands in terms of thrust. In other words, an aircraft’s flight controller can communicate to motors directly in thrust units, instead of a speed control signal whose actual effect is subject to variances like motor voltage level.

The “Position” mode has the motor function like a servo with adjustable torque, which is perfect for direct drive applications like robotic legs. The position sensing also allows for a few neat tricks, like the ability to use the motors as inputs. Embedded below are two short videos showcasing both of these features, so check them out.

Continue reading “How To Improve A Smart Motor? Make It Bigger!” →

The Spin Cycle: Washing Machine Motor Converts 10-Speed To E-Bike

July 6, 2020 by Bryan Cockfield 77 Comments

The “Spin Cycle” is an amazing electric bicycle built using a motor salvaged from a washing machine; when the puns are this perfect you have to roll with them. [jimminecraftguy’s] creation is one of the most hacked-together yet functional electric vehicle we’ve seen in a long time.

The drive train of this bicycle starts with a brushless DC motor from a washing machine. It has been slightly modified to run on 48 volts, and is installed inside the triangle of the bike’s frame. It has a chain driving the bike’s crank, retaining the original chain and gearing setup (unlike many electric bike hacks that utilize hub motors). The crank has also been specially modified to include a freewheel, a necessary feature so that the motor can operate without spinning the pedals. Everything except the motor has been custom fabricated including the mounts and the electronics.

[jimminecraftguy] reports speeds of 110 kph which is a little crazy for a 20-year-old aluminum frame bike, and we’d guess it’s not street legal in many jurisdictions, but we can’t really find much fault with this build in general based on the amount of innovation required to get this working at all. A few more improvements for the build are in the works, including improved batteries and a cover for the sides to keep the local law enforcement from getting too suspicious. We can’t wait to see the final version. Continue reading “The Spin Cycle: Washing Machine Motor Converts 10-Speed To E-Bike” →

Steampunk Brushless Motor Demo Pushes All The Maker Buttons

May 29, 2020 by Dan Maloney 46 Comments

We’ll be honest right up front: there’s nothing new in [David Cambridge]’s brushless motor and controller build. If you’re looking for earth-shattering innovation, you’d best look elsewhere. But if you enjoy an aimless use of just about every technique and material in the hacker’s toolkit employed with extreme craftsmanship, then this might be for you. And Nixies — he’s got Nixies in there too.

[David]’s build started out as a personal exploration of brushless motors and how they work. Some 3D-printed parts, a single coil of wire, and a magnetic reed switch resulted in a simple pulse motor that performed surprisingly well. This morphed into a six-coil motor with Hall-effect sensors and a homebrew controller. This is where [David] pulled out all the stops on tools — a lathe, a plasma cutter, a welder, a milling machine, and a nice selection of woodworking tools went into making parts for the final motor as well as an enclosure for the project. And because he hadn’t checked off quite all the boxes yet, [David] decided to use the 3D-printed frame as a pattern for casting one from aluminum.

The finished motor, with a redesigned rotor to deal better with eddy currents, joined the wood and metal enclosure along with a Nixie tube tachometer and etched brass control plates. It’s a great look for a project that’s clearly a labor of self-edification and skill-building, and we love it. We’ve seen other BLDC demonstrators before, but few that look as good as this one does.

Continue reading “Steampunk Brushless Motor Demo Pushes All The Maker Buttons” →

Take A 3D Printed Brushless Motor Demo For A Spin

May 18, 2020 by Al Williams 9 Comments

It used to be a staple of junior high physics class to build some sort of motor with paperclips or wire. A coil creates a magnetic field that makes the rotor move. In the process of moving, brushes that connect the coil to the rest of the circuit will reverse its polarity and change the magnetic field to keep the rotor turning. However, brushless motors work differently. The change in magnetic field comes from the drive controller, not from brushes. If you want to build that model, [Rishit] has you covered. You can see his 3D printed model brushless motor running in the video below.

Usually, you have a microcontroller determining how to drive the electromagnets. However, this model is simpler than that. There are two permanent magnets mounted to the shaft. One magnet closes a reed switch to energize the coil and the other magnet is in position for the coil to attract it, breaking the current. As the shaft turns, eventually the second magnet will trip the reed switch, and the coil will attract the first magnet. This process repeats over and over.

Continue reading “Take A 3D Printed Brushless Motor Demo For A Spin” →