High Speed Robotic Camera Dolly

Kuklish

10 µW
Joined
Feb 4, 2013
Messages
5
Hi All...

We're building a semi-autonomous, RF controlled, robotic camera dolly for a movie here in LA.

Looking for any suggestion on our batteries for this rig. Need a professional solution, and a customized pack. The main problem as I see it is the large current draw. All the battery protection circuits seem to max out at 60 amps discharge, but we do not want to have to run two packs in parallel because the rig needs to be small and light.

Ideal pack for us would be:
LiMnC02 (or maybe LiFePo) (Would prefer LiMnCO2 for stability on hot film sets under lights and around actors.)
48Volts
10 or 15 Ah
120 A Peak Current Draw
50 A Continuos Current Draw

Motor Specs:
48V motors/controllers
48 A continuous at cruising speed.
112 A peak current for short bursts of accel and decel.

Any suggestions for vendors of single cell LiMnCO2's, high current protective circuits, or custom small order manufacturers would be much appreciated.
 
Cellman's A123 packs would seem to fit your needs. He is at emissionsfree.com. Uses A123 cells. If your engineers are up for it then agniusm's A123 kits are fairly easy to assemble and cells that go bad can easily be replaced.
otherDoc
 
i think EIG is where you have to go to get LiMnCo2 cells. i think chris is the only one building packs with them here. why can't you just use the cheap hobby king lipo?

if your dolly needs some weight to remain stable you could get an A123 pack capable of the short power surges you need and have some safety. the lights don't make any difference. it is attention to the charging and balancing of the lipo that matters.
 
Kuklish said:
Hi All...

We're building a semi-autonomous, RF controlled, robotic camera dolly for a movie here in LA.

Looking for any suggestion on our batteries for this rig. Need a professional solution, and a customized pack. The main problem as I see it is the large current draw. All the battery protection circuits seem to max out at 60 amps discharge, but we do not want to have to run two packs in parallel because the rig needs to be small and light.

Ideal pack for us would be:
LiMnC02 (or maybe LiFePo) (Would prefer LiMnCO2 for stability on hot film sets under lights and around actors.)
48Volts
10 or 15 Ah
120 A Peak Current Draw
50 A Continuos Current Draw

Motor Specs:
48V motors/controllers
48 A continuous at cruising speed.
112 A peak current for short bursts of accel and decel.

Any suggestions for vendors of single cell LiMnCO2's, high current protective circuits, or custom small order manufacturers would be much appreciated.

You would need about 96 of these.

http://endless-sphere.com/forums/viewtopic.php?f=31&t=36589

He tests them first. No playing. The best.
 
If you have experience at pre-testing, burn-in, and otherwise weeding out bad cells and stuff, the RC LiPo packs will be the lightest smallest packs you coudl probably put together that can handle those specs--but if you don't already have experience doing it, I would not recommend them because of the potential for dramatic failure modes if improperly monitored and pre-tested.


EIG's NMC packs are discussed in the threads below; they are the cells I'd recommend you go with based on my experiences with them vs RC LiPo and possible alternatives, and considering the experiences of others here with other types of cells that could also do what you want. They will not be cheap but they will do what you want, and be reliable at it.

EIG threads I know of with data, prices, or pictures in them. First ones are about buying, the others have some mention, most info is from JonesCG AFAICR, but JohnRobHolmes is also buying some or already has some (not sure which), in the thread about building a pack that won't burn down your house:
http://www.endless-sphere.com/forums/viewtopic.php?f=14&t=47167
http://www.endless-sphere.com/forums/viewtopic.php?f=14&t=46870
http://www.endless-sphere.com/forums/viewtopic.php?f=34&t=40610&p=625567#p625985

http://www.endless-sphere.com/forums/viewtopic.php?f=34&t=40610&p=627152#p627152
http://www.endless-sphere.com/forums/viewtopic.php?f=10&t=29916&p=628066#p628066
http://www.endless-sphere.com/forums/viewtopic.php?f=31&t=45963&p=670854#p670854
http://www.endless-sphere.com/forums/viewtopic.php?f=31&t=45963&p=671348#p671348
http://www.endless-sphere.com/forums/viewtopic.php?p=687445#p687445
http://endless-sphere.com/forums/viewtopic.php?f=14&t=26992
http://www.endless-sphere.com/forums/viewtopic.php?f=14&t=34194&start=15
http://endless-sphere.com/forums/viewtopic.php?f=14&t=34438
http://www.endless-sphere.com/forums/viewtopic.php?f=34&t=40610&start=30

The only problem report I've seen so far for the EIG NMC cells is here:
http://www.endless-sphere.com/forums/viewtopic.php?f=14&t=47484
and I suspect the problem is physical damage to the cell in question, which could cause problems with *any* cell of any type/brand/etc. (and with some cells like RC LiPo it's been know to cause extremely dramatic problems. ;))

For a last-ditch-prevent-pack-damage battery monitor system, I would recommend the Methods HVC/LVC units, setup so they can trigger your motor controller system to turn off if they drop too low, and turn off your charger if they get too high.
http://www.endless-sphere.com/forums/viewtopic.php?f=14&t=40436
You can set your controller system's LVC for the pack-level low-voltage cutoff desired, and let the Methods system be a cell-level cutoff in case something is badly unbalanced or you have a problematic cell or something.

A balancer is probably not needed though I would recommend something to check balance with, during charge, discharge, and periodically. (I have not had any balance issues with mine even after having been accidentally taken to 0V, and recharged and re-used just to get data on such circumstances--they are still operating normally, at the low-C-rate application they're in).
http://www.endless-sphere.com/forums/viewtopic.php?p=695005#p695005

Setup your charger so it cuts off at the desired ful pack voltage; the Methods system would then be a cell-level cutoff for overvoltage, again in case of unbalanced or bad cell conditions.
 
amberwolf said:
If you have experience at pre-testing, burn-in, and otherwise weeding out bad cells and stuff, the RC LiPo packs will be the lightest smallest packs you coudl probably put together that can handle those specs--but if you don't already have experience doing it, I would not recommend them because of the potential for dramatic failure modes if improperly monitored and pre-tested.


EIG's NMC packs are discussed in the threads below; they are the cells I'd recommend you go with based on my experiences with them vs RC LiPo and possible alternatives, and considering the experiences of others here with other types of cells that could also do what you want. They will not be cheap but they will do what you want, and be reliable at it.

EIG threads I know of with data, prices, or pictures in them. First ones are about buying, the others have some mention, most info is from JonesCG AFAICR, but JohnRobHolmes is also buying some or already has some (not sure which), in the thread about building a pack that won't burn down your house:
http://www.endless-sphere.com/forums/viewtopic.php?f=14&t=47167
http://www.endless-sphere.com/forums/viewtopic.php?f=14&t=46870
http://www.endless-sphere.com/forums/viewtopic.php?f=34&t=40610&p=625567#p625985

http://www.endless-sphere.com/forums/viewtopic.php?f=34&t=40610&p=627152#p627152
http://www.endless-sphere.com/forums/viewtopic.php?f=10&t=29916&p=628066#p628066
http://www.endless-sphere.com/forums/viewtopic.php?f=31&t=45963&p=670854#p670854
http://www.endless-sphere.com/forums/viewtopic.php?f=31&t=45963&p=671348#p671348
http://www.endless-sphere.com/forums/viewtopic.php?p=687445#p687445
http://endless-sphere.com/forums/viewtopic.php?f=14&t=26992
http://www.endless-sphere.com/forums/viewtopic.php?f=14&t=34194&start=15
http://endless-sphere.com/forums/viewtopic.php?f=14&t=34438
http://www.endless-sphere.com/forums/viewtopic.php?f=34&t=40610&start=30

The only problem report I've seen so far for the EIG NMC cells is here:
http://www.endless-sphere.com/forums/viewtopic.php?f=14&t=47484
and I suspect the problem is physical damage to the cell in question, which could cause problems with *any* cell of any type/brand/etc. (and with some cells like RC LiPo it's been know to cause extremely dramatic problems. ;))

For a last-ditch-prevent-pack-damage battery monitor system, I would recommend the Methods HVC/LVC units, setup so they can trigger your motor controller system to turn off if they drop too low, and turn off your charger if they get too high.
http://www.endless-sphere.com/forums/viewtopic.php?f=14&t=40436
You can set your controller system's LVC for the pack-level low-voltage cutoff desired, and let the Methods system be a cell-level cutoff in case something is badly unbalanced or you have a problematic cell or something.

A balancer is probably not needed though I would recommend something to check balance with, during charge, discharge, and periodically. (I have not had any balance issues with mine even after having been accidentally taken to 0V, and recharged and re-used just to get data on such circumstances--they are still operating normally, at the low-C-rate application they're in).
http://www.endless-sphere.com/forums/viewtopic.php?p=695005#p695005

Setup your charger so it cuts off at the desired ful pack voltage; the Methods system would then be a cell-level cutoff for overvoltage, again in case of unbalanced or bad cell conditions.

I read those links and have a question.

How does one get a NDA ?

What did they give you to keep quiet and not let your ES buds in on the info ?
 
Thing is I am still testing an A123 ebike pack made from cells made in 2006.

I balance charge them every time with a Hyperion 1420 and don't run them off the cliff.

I am not going to give up on that pack because I want to see how long it will last.

It may take 6 more years before we know ?

It takes a long time to test good batteries and I ride almost everyday all year.
 
He needs a safe pack that anyone who plugs it in will be safe. So a A123 with a bms so it is a plug and play pack. Amberwolf are you talking about a EIG pack that you made with a BMS ? Did Jay64 use a BMS ? Who has made a EIG pack with a BMS plug and play. What BMS's are out there for the suport of the EIG cell that wouldn't brake the bank ? I would love to get my hands on some EIG cells. And there are some low c-rate NMC cells out there so you must shop for the good ones like EIG. Can someone find the back door for these besides Luke ?
 
Kuklish said:
LiMnC02 (or maybe LiFePo) (Would prefer LiMnCO2 for stability on hot film sets under lights and around actors.)
48Volts
10 or 15 Ah
120 A Peak Current Draw
50 A Continuos Current Draw
No suggestion from me. Just a question: How big/heavy is the dolly, fully loaded? 48x50 = 2,400W! How fast does it move? 40mph? Or faster?
 
Hi All...

Thank you for all your great suggestions....

We had a bit of a snafu on our motor selection. Though the 48V volt servo motors were plenty to handle motoring back and forth manually, the interial mismatch ratio was considerably too high for accurate motion control. (this will do repeat moves, and custom moves via various encoders in the system).

Consequently we are moving up to much higher inertia motors, but these will now need to run at a minimum of 240 volts. So we are looking at the feasabiliy of putting four 72Volt packs in series. There is an option to still use lower voltage, but the DC to DC converters that we have found are only 80% to 85% inefficient and run very hot.

The dolly fully loaded will be approximately 150 pounds. Top speed is approximately 25 mph. Minimum acceleration is 14.6ft/sec^2 (2.5 seconds to full speed), though with the torque of our 4 motors, it looks like it will will handle a lot more than that, and probably will have very decent straight vertical performance.
 
Even at the power levels you're needing, I think the EIG cells are likely your safest and surest bet, given my results so far, out of the stuff that is available in small quantities from reputable battery vendors or manufacturers. (i.e., isn't seconds, recycled used or discarded or damaged cells, or otherwise completely unknown QC or known-to-be-bad-or-nonexistent-QC)



Apologies to the OP for the OT:
etriker said:
How does one get a NDA ?

What did they give you to keep quiet and not let your ES buds in on the info?
Well, that's the thing about an NDA (Non Disclosure Agreement)--you can't say anything about the stuff unless they specifically say it's ok. I got permission to discuss the technical details and results of the pack, but can say nothing about it's origins. :(


Regarding NDAs in general, having done beta testing for music-composition/recording-related software/hardware in years past, I can say that sometimes a company will approach a person based on previous experience with other companies, to do alpha or beta testing of stuff, but there is always a NDA involved in which nothing about the entire thing can be discussed. Sometimes after the testing is over and product is released, then technical issues can be discussed, but usually nothign about the beta process or anything else can be discussed, and usually you are not allowed to say anything about having been a beta tester. (though in at least one case we were all given T-shirts stating we were beta testers, and were allowed to wear them in public, yet we still couldn't actually state we were beta testers, so I dunno about some companies. :?). Sometimes products are never released, and you're usually not allowed to ever say anything about them, even to other beta testers *or* other employees in other programs by the same company. That's wierd, but it happens. Sometimes you get the product for free, and sometimes a discount. Usually with hardware it's the latter, software the former, but there are exceptions to both.


Hopefully that answers your question sufficiently, because that's all I can really say. :(


Regarding the cells themselves, I have the NMC 20Ah cells with their trays. Presently 16 of them are my traction pack, and 3 are my lighting pack, and a couple "spares" that are really part of the traction pack but not presently attached to it and a 4th cell for the lighting pack that I took off because of the lower voltage of my present lighting. While I wish I had more of them, I'm grateful to have just these. I have paralleled them (at pack level, not cell level) with a 16s2p 10Ah RC LiPo pack for some test rides when I had the 4KW+ controller setup on CB2, but there wasn't too much difference in voltage sag even at takeoffs. I don't know the Ri of the RC LiPo but would guess that it is not as good as the EIG, based on the differences in voltage sag in this and other tests.


etriker said:
Did you do a burn down on the grill test of the NDA cells ? What do they do when they get too hot ?
I'm sure that at some point they *would* burn, just like any other cell. But unlike at least some RC LiPo and some other types of cells, they don't seem to have a problem being taken down to 0V and then still be recharged and used "normally" (at least at 1C or less). No puffing, no heat, no fire, etc.

I dont' have enough fo them to "waste" one on such a test, until I manage to damage one beyond usability for my purposes--which so far hasn't happened even with taking 3 of them down to 0V in my lighting pack--they still appear to work just as well as they did before, at least in the lighting pack. If one does fail I will do an overcharge test to see what happens, similar to my RC LiPo pouch fireworks tests last July. Hopefully I'll have better instrumentation for monitoring by then.

However, these cells don't seem to get warm in my typical use on CB2, pulling 2-4C for 3-6 seconds at a time, then 0.5-1C for a minute or two, then nothing for a few seconds to a minute or two, then repeat the cycle (in stop-and-go traffic). I do not yet have temperature monitoring, but I had the bare pack where I could check it by hand for a while. Now it is protected from crash/skid/water in an ammocan with a vent (just in case).

The "damaged" lighting pack does not get warm either, AFAICT, with a constant 0.25-0.3C drain (headlight) and intermittent smaller drains.


999zip999 said:
He needs a safe pack that anyone who plugs it in will be safe. So a A123 with a bms so it is a plug and play pack. Amberwolf are you talking about a EIG pack that you made with a BMS ? Did Jay64 use a BMS ? Who has made a EIG pack with a BMS plug and play. What BMS's are out there for the suport of the EIG cell that wouldn't brake the bank ?
I dunno about a BMS--at first I used the cells just bulk charging and manually monitoring (but there were never any balance issues; there could be once they get older, but not so far).

Now I have an early version of the Methods HVC/LVC on there, but it has yet to be needed. I don't run the cells down very far most of the time (10Ah at most typically before I recharge, sometimes half that or less, sometimes 15Ah or so). I have my CA LVC at 56V, for 3.5v/cell, but have not hit it yet. My charger is set for 66.3V max, but usually only to 66.2V, which is 4.13-4.14V/cell.

I use a Battery Medic from Mdd0127 to periodically check the cell balance at various SOCs; it's accuracy is close enough to see if anything is really bad.


Can someone find the back door for these besides Luke ?
Well, based on what he's posted here and there, I think he was dealing directly with EIG via the front door sales office, along with a lot of other battery manufacturers, when he was picking what cells the Zero was gonna use.

JonesCG and JohnRobHolmes have also used the front door sales office directly thru EIG, AFAICT, and so has at least one other person (sorry I forgot the name). So there's no need for a "back door" that I can see--anyone can purchase the cells, although they aren't as cheap as other options, in the quantities we'd be using here on ES (even a group buy wouldn't bring it down that much, and those things don't tend to go very well, so I don't expect any to happen anytime soon).
 
Let us know what you can when you can.

I am glad you like them and hooked up.

The best cells I have ever tested are the A123 cells I bought in the link I showed.

I have been burned so many times on batteries and someone finally did me right so I brag him up.

Boeing got burned real bad on batteries too. It is so not uncommon.
 
We sure did destroy some A123 cells doing testing. I don't consider it a waste.

When people ask me what they will do when they get too hot I can show them.

I did not know what they would do until I did that test.

I blew up and tested the crap out of A123 M1 cells before I first made a pack using A123 M1 cells.

Knowing your cell is important when making a battery pack with that cell.

Knowing your cell is also important in the quest to become a top notch master BMS for the battery pack made from your cells. :)
 
Kuklish said:
Hi All...

Thank you for all your great suggestions....

We had a bit of a snafu on our motor selection. Though the 48V volt servo motors were plenty to handle motoring back and forth manually, the interial mismatch ratio was considerably too high for accurate motion control. (this will do repeat moves, and custom moves via various encoders in the system).

Consequently we are moving up to much higher inertia motors, but these will now need to run at a minimum of 240 volts. So we are looking at the feasabiliy of putting four 72Volt packs in series. There is an option to still use lower voltage, but the DC to DC converters that we have found are only 80% to 85% inefficient and run very hot.

The dolly fully loaded will be approximately 150 pounds. Top speed is approximately 25 mph. Minimum acceleration is 14.6ft/sec^2 (2.5 seconds to full speed), though with the torque of our 4 motors, it looks like it will will handle a lot more than that, and probably will have very decent straight vertical performance.

If you need minimum 240V what about Enerdel made battery pack? http://www.enerdel.com/pp160-360-vigor-battery-pack/
PP160-360 Vigor+ Battery Pack
16AH
Max V - 360, Min - 220
80A continuous
220A for 1 min.
 
Uhhh... that Enerdel weighs over 300lbs! More than twice the weight of our entire rig! Our wattage requirement hasn't changed, so as volts requirement has increased, our amperage requirement has gone way way down... thanks though.
 
Yeah.. I'm sure it will. Got a couple bids coming in for packs made from the smallest LiFePO4, and LiMnCO2 cells possible. I don't offhand know what the smallest cell size those come in. Does anybody here?
 
I posted these pic's on another thread but will do it again so hope nobody gets mad. These are 7-8ah cells at about 30c 15usd plus shipping. I now the company has a machine that willput a thread end on for easy builds on other cells so maybe this cell too. How many ah pack you need ?2.jpg
 
2.5 amp hours at 240 or 288 volts.... would be plenty.
peak current just under 20 amps
continuous current between .7 and 1.5 amps
 
Well, if you only need 2.5AH then ANR26650M1-B cell in 78S configuration at 6kg. 70A continuous, 120A 10s discharge.
 
Well how about these. 4ah I think 13usd. but need to check. You want a prebuild pack and matching BMS ? Always nice to have extra ah.32113..jpg
 
One thing to keep in mind with smaller cells: Typically they will have a lower energy density than larger capacity cells otherwise identical, because proportionally less of the cell is active material and more of it is casing.



Again, sorry for the OT:
etriker said:
Knowing your cell is important when making a battery pack with that cell.

Knowing your cell is also important in the quest to become a top notch master BMS for the battery pack made from your cells. :)
True, but I have some confidence in these things simply because LFP picked the same kind for the Zero, and I've seen what he has done to many other kinds of cells in his vids here on ES, and I assume he would have tortured this kind even more thoroughly before deciding on them for a commercial product. (and he was already a power systems / battery systems expert in his previous lucrative career that he gave up to pursue EVs with Zero). I wish there were videos of THOSE tests, but I trust that he's done them even without him saying or showing them. :)

If no one had ever done those kinds of tests with these cells, I would not consider it a waste to do them. But since others have, then it *is* a waste for me to replicate the same kind of testing when I could actually use them for moving me around or making me more visible on the road for more than a minute at a time. ;)
 
amberwolf said:
One thing to keep in mind with smaller cells: Typically they will have a lower energy density than larger capacity cells otherwise identical, because proportionally less of the cell is active material and more of it is casing.



Again, sorry for the OT:
etriker said:
Knowing your cell is important when making a battery pack with that cell.

Knowing your cell is also important in the quest to become a top notch master BMS for the battery pack made from your cells. :)
True, but I have some confidence in these things simply because LFP picked the same kind for the Zero, and I've seen what he has done to many other kinds of cells in his vids here on ES, and I assume he would have tortured this kind even more thoroughly before deciding on them for a commercial product. (and he was already a power systems / battery systems expert in his previous lucrative career that he gave up to pursue EVs with Zero). I wish there were videos of THOSE tests, but I trust that he's done them even without him saying or showing them. :)

If no one had ever done those kinds of tests with these cells, I would not consider it a waste to do them. But since others have, then it *is* a waste for me to replicate the same kind of testing when I could actually use them for moving me around or making me more visible on the road for more than a minute at a time. ;)

I really don't trust LFP when it comes to batteries.

He really trashed using laptop cells for ebike batteries and I found out he was way wrong.

He trashed using laptop cells because he believed what he read online and did not do testing ?

His posts are a mixture of good and bad info and I don't know when he is trippin or not.
 
Back
Top