Rudder
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The motor currently in use in the rudder is the Lehner 30100/12 with a NTC Temp. Sensor (B 25/100 3988 ±1%) installed. There is also a magnetic encoder placed behind the motor.
Rudder-controller
To accommodate the new rudder design and its features, a controller is needed. With this controller we want to enable a multiple of functionalities that will help with the integrate cooling system and the control of the back-foil.
The design should therefore have the following requirements:
| Feature | Description | Electrical connections | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Power | Power will be coming from the CAN-bus
It is important that the inrush of the connected motors must not decrease the CAN-bus voltage. |
4-pins connector that hosts the CAN-bus and Power | ||||||||||||
| Communication | The board will use the CAN-bus to communicate and retrieve commands | 4-pins connector that hosts the CAN-bus and Power | ||||||||||||
| Back-foil control | A TMC2209 or comparable is needed that supports StallGuard™ | Available on the platform connected to the back-foil motor | ||||||||||||
| Back-foil motor | The Nema 11 Stepper motor fits the rudder design to control the back-foil. | 4-pins connector for power and control
| ||||||||||||
| Water pump | The available waterpump: ZC-A210 | 2-pins connector
| ||||||||||||
| Flowmeter | We have 2 flowmeters for inlet and outlet: DWS-MH-02 | 6-pins connector
| ||||||||||||
| Platform | Right now(10-11-2025) the Duet 3 1LC is available to use for prototyping.
Other options are EBB 36 and SHT36 with TMC2209 |
Host listed connections above. |