Model Predictive Control of a Series Elastic Actuator
Recently I had the pleasure to work on what is probably the best-made Series Elastic Actuator (SEA) module in the world: the ANYdrive. from Robotic Systems L...
The PCB layout was created based on the schematic in Fig.1. It’s a 2-layer PCB, and it features separated ground panels for digital and analog circuitries, which helps reduce cross-over noise. According to the data sheet of TPA60120, for stable operation and optimum performance, there should be no ground panel underneath the output and feed-back pins of the IC. This recommendation was very well implemented. In addition, the output and feed-back paths were made as short as possible.
The design of the PCB is shown in Fig.2 and Fig.3.
After a few hours of assembly and some hardware debugging, my computer finally successfully recognized the chip, and sound flowed out like water. It has a crystal clear high-frequency, and rich mid-frequency, and decent low-frequency. The response is quite flat, being totally loyal to the original recording. When the music is off, there is no noise what so ever. I made a 5-minute comparison between my laptop’s audio output and this decoder. There is subtle differences, and the later offers clearer sound. From first impression I like my decoder better.
I used my Beyerdynamics DT880 headphone (32ohm version) for the above testings.
Haven’t washed the PCB yet, still covered with flux. But here is the final product (Fig.4 and 5).
There are minor problems with the board. First, sometimes my computer fails to recognize PCM2707, because of power supply instability at power-up. PCM2707 is supplied with 5V USB bus voltage, and its internal voltage regulator generates the 3.3V voltage needed for its internal operations. The internal voltage regulator, however, occasionally exhibits instability at power-up, causing the device to malfunction. The cause of the instability is the inadequate value of decoupling capacitor. I added as much as I could, and the device could function normally 90% of the time. Second, the power and status indicator LEDs have different brightnesses, which is kind of annoying.
I made a cute little case for my decoder and amplifier, using a Snoopy pencil case. Look very nice, feel better to the touch!
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