Tools, APP Software Used etc.

KiCAD

Description

Amulet: High-Power BLDC Motion Controller

The Amulet Motion Controller project is a custom high-power motion controller designed to be tightly integrated in our custom quasi-direct drive actuators. It uses SVPWM and FOC to precisely control brushless motors. The specs are as follows:

Voltage Input: 12-44V
Peak Phase Current: 100A (to be further tested)
Peak Electrical Power: 1600W
Communication: 5Mbps CAN-FD
Cooling: Low-side switched 12V fan
Positioning: 2x Onboard 14-bit Encoders
PWM Switching Rate: 15-60kHz
Control Rate: 15-30kHz
MCU: STM32G474
Dimensions: 69.7 x 76.7mm

The motion controller is also accompanied by a custom off-axis encoder (not included here in this project submission, but is on the repository), for a dual-encoder system. Our custom actuator will then be used in a quadruped robot.

Code

Amulet Firmware

https://github.com/EPFLXplore/XRE_moteus/tree/dev

Schematic and Layout

amulet_controller.pdf

Download Gerbers Download BOM(Bill of materials)

Jun 02,2024

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Amulet: High-Power BLDC Motion Controller

Amulet is a powerful BLDC controller board, specifically designed to be integrated in quasi-direct drive actuators.

491

Published: Jun 02,2024

Download Gerber file 16

BOM(Bill of materials)

Centroid file

Other files for Assembly

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File Last Updated: 2024/08/12 (GMT+8)

File update record

2024-08-1209:54:17

Parts List (BOM) is updated.

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