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- Опубліковано 3 лип 2024
- This video shows the teardown, the reverse engineering and the test of a servomotor used in the Iranian Shahed-136 kamikaze drone (also called Geranium-2) .
00:00 - Intro
01:46 - Teardown
02:36 - Electronic board
03:16 - Test
06:15 - Reverse-engineering - overview
06:47 - Reverse polarity protection
08:15 - Power supply
08:54 - Brushless motor power stage
10:03 - PWM input interface
10:27 - Feedback device
10:46 - Feedback output circuit
active parts used:
SED10070GG: N-channel MOSFET (x7)
www.lcsc.com/datasheet/lcsc_d...
SGM8591: Single-Supply, Single Rail-to-Rail I/O Precision Operational Amplifier
www.sg-micro.com/rect/assets/...
EG2134 芯片用户手册 三相独立半桥驱动芯片
www.lcsc.com/datasheet/lcsc_d...
TLP2361
eu.mouser.com/datasheet/2/408...
XL7005A - 0.4A 150KHz 80V Buck DC to DC Converter
www.lcsc.com/datasheet/lcsc_d...
Blog with schematic diagram in pdf:
mwblog.fr/ldm-367-shahed-136-...
Link to schematic diagram:
mwblog.fr/wp-content/uploads/...
The servo is similar to the giant scale servo from Hitec ref HS-1005SGT:
hitecrcd.com/products/servos/... - Наука та технологія
This is a very high-quality version of a regular remote control servo. It's unusual to find a brushless RC servo, let alone one with a sensored brushless motor and an encoder.
You did well finding it for €1. Thank you for sharing it with us.
Brushless RC servos are not unusual. In fact are commonly available, though used mostly by RC enthusiasts who need if for their reliability in their expensive models. And all Brushless servos are sensored AFAIK due to the need for max torque at zero RPM for position holding, can't be done otherwise.
@@Pgr-pt5ep I hadn't found any sensored ones last time I looked, although admittedly that was a long time ago so maybe it's different now. I'd always assumed they just relied on the high gear ratio to get started - All the ones I've seen have used a regular brushless servo with back-emf feedback but it has been years since I looked tbh. It's good if it's now commonplace, I never liked the sensorless setups personally.
@@yngndrw. I had to see if truly sensorless-brushless RC servos exist, and it's still possible but I couldn't find any on quick search.
A truly sensorless servo would have to either have a lot of backlash or designed for very light loads to make sensorless work, neither being usable for high-end RC applications.
@@Pgr-pt5ep It was quite a while ago that I saw one, maybe 5 years. It was a "JX" branded servo, but sadly I don't remember the model number, I don't have the disassembly pictures anymore and I can't find any online. It wasn't an expensive one.
@@yngndrw. When you write sensored, what do you mean - an output shaft position sensor, or a motor shaft position sensor (aka sensored brushless motor)?
This is a Hitec HS-1005SGT with the label removed.
That's awkward for them. Surely this component should be under export sanctions to both Iran and Russia. Uncle Sam will have questions.
that is supposed to have a 5 pole brushed motor, so, no it's not...
Exactly !
I doubt it's Hitec branded because clones that perform just as well can be had for much cheaper. These drones need to hit a tight budget and branded would be a waste of money.
@@spotonnls3538 *brushless*
the electronics are completely different
Hello, Very nice Video as Always, Thankyou!
The Servo Electronics are interesting, mostly Chinese parts (EGMicro, XLSemi, etc), Parts that I use in my Designs too. No Overpaid Military Parts !, This is why the can be produced in such low Prices! Cheers, Konstantin
24V 200KG Brushless HV Metal Gear UAV Servo Motor
Description:
Operating Voltage: DC8.4V-12V-24V
Size: 64*33*73.6mm
Stall Torque: 200Kg.cm@12V
Speed: 0.13sec/60°@12V
Weight: 360g
Working Frequence: 1520us/333Hz
Motor: Brushless
Stalling current: 10.2A @ DC12V
I've been flying RC for 30+ years. This looks surprisingly typical of a hobby grade servo, although ruggedized, it reminds me somewhat of the Promodeler servo brand, but not nearly as well made. Other commenters claim its a Hitec without a badge, but I'd be more inclined to think it's a 3rd party clone, they're all over alibaba. It would've been nice if you showed us the gearbox, I would assume it's an all metal gear train, cheaper ones may use plastic or delrin gears. Very nice ones will have stainless steel gears with bronze bushings and bearings, or even titanium gears, but I think the latter make no difference other than sounding fancy for marketing.
The wiring colors for the external connectors are pretty standard across the field. I've seen 3 variations, red,black, which is self explanatory, followed by white for the signal wire. This is usually the convention for Futaba servos. JR servos usually use brown for -, red, and yellow for signal. Hitec uses the the scheme seen in this specimen. The hobby ones use a dupont connector, which can be flimsy, so it's easy to see why they upgraded that. In the hobby world, I would expect this to be marketed as a high voltage digital brushless servo. High voltage in this case means 7.2v nominal, usually supplied by a 2 cell lipo battery. Smaller servos typically run on 4.5V, which was the nominal voltage for 4 cell NiCd batteries back in the day if I remember correctly.
600us to 2400us is a very typical range, however, in many hobby transmitter systems the default range is slightly less, to allow for the option to expand the range. 1500us is usually considered the center point of the servo. I'm impressed with how quiet this servo is, as many digital servos make a very obnoxious PWM whine even when idle, usually the cheaper ones. Also, this one has really good resolution. For a "high" quality servo I would expect to see 330hz PWM rates, but I've seen as high as 560. A servo of this size would be used in giant scale RC planes, 30% or larger scale. Or for very large RC trucks.
Overall, looks like a pretty decent servo, and I wonder how much Iran is paying for them. Great job with your channel, keep up the good work. As a pilot I love learning the more intimate details of our instruments that are often overlooked in our training.
Great video Michel. I tip my hat to you SIR. Thanks
I am bidding on a Shahed servo on ebay, a somewhat bigger model it seems, with a connector instead of the cable going inside. Seller states it is Hitek brand servo too. He has also soviet missile electronics, in a state like if they were out of a blender sadly, nothing to see or salvage.
Simple and effective!
effective 😂
Merci pour la vidéo, Michel! Moteur triphasé, qui l'aurait pensé. Merci aussi pour la XL7005.
A teardown of the KOMETA-M GNSS guidance kit and other electronics of the UMPK Russian guided bombs would be very interesting also.
€1 was kind of a steal for this, new they cost about €100 for an off-label and €400 for the Hitec servo what this is.
It’s simply indecent to price Chinese shit in euros.
For items of defective Liao, you can pay exclusively with waste paper such as yuan, ruble, lira..
the Hitec HS-1005SGT is £499 on eBay
@@lucombe doesn't it bother you that it's new and comes with a warranty?
super cool.
Sehr gut
Would be interesting to see the repeatability with a dial indicator or some such device... Thanks for the video !
At 10:17, if the circuit you are talking about that you don't know the purpose is the TV1 BAT54S dual Schottky diode, it is used to clamp the signal to 0V/+3.3V (actually -0.3V/+3.6V)
I know that is a clamp, but why clamping a voltage which is already inside 0-3.3V ?
@@lelabodemichel5162 Probably transients... STM32 inputs are well known to be sensitive to voltages over the AMR
@@lelabodemichel5162check around for evaluation boards implementing similar circuits. It may have simply been lifted from a different design.
@@lelabodemichel5162 If there were a huge common mode interference on the cable wires, like from a nearby radar, perhaps even the tiny capacitive coupling across the opto-coupler could pass enough of the interference through?
I have found the reason. I thought that the resistor R19 of 470R was connected to a test point but it is actually connected to one pad for external wiring, for test purpose or maybe to drive the servomotor without the opto-coupler. In that case a protection is effectively required.
A construçao parece ser resistente.
So satisfying to see that Iranian engineers use NATO standard connectors...
Sir please do more schematic analysis 🙌🙌🙌
That servo is Hitec or Smilar Chines copy that you can find at Hobbyking.
From where did you buy it?
Excuse me sir, I have a question. At 7:30, you say that a capacitor in parallel with the MOSFET's gate resistor accelerates the FET's conduction. Could you explain why? I'm learning about electrical engineering and I haven't heard about that before. Doesn't any capacitance in the gate's signal trace cause the voltage to rise slower, prolonging the period in which the gate is only slightly past the threshold voltage and heating it up? Is there a reason why an added capacitor there would increase the speed of turning the FET on?
Thank you for this very thorough video, I learned a lot watching it and wasn't expecting any more than a closeup shot of the PCB.
As all low Rdson mosfets the gate capacitance is quite large, 4.4nF for this one. This capacitor creates a time constant with the resistor in series with the gate. Adding a capacitor in parallel with the resistor creates a capacitive divider which permits to charge the gate capacitance quickly.
I wonder which frequency these drone use? And how is the maximum range of the transmitter? The commercial transmiters (e.g. FUTABA) only have 1500 m, and I am shure the drone transmitters gets over more than 10 Km...
Nice video!
Greetings from Argentina!
Hitec HS-1005SGT THX for schema :)
Like. that is excellent ~ bye. Le! ))
Looks to be a copy or an OEM of a HiTec HS-1005SGT (the picture of the burnt out servo is of a different type of servo)
Are you sure? The specs of the HS-1005SGT suggest that it uses brushed motor unless I'm misreading them.
@@yngndrw. I wouldn't be surprised if the HiTec website description was wrong/out of date - the HS-1100WP appears to be the exact same servo as the HS-1005SGT but that spec table says its a '5 Poles Cored Metal Brushless'. So it could be one of those but in a silver anodised or non-anodised casing. If Michel could weigh the servo on its own (no metal backing plate) we could see if it matches the 363g weight given by HiTec. The key thing for me, here is that Michel has a servo with a casing that matches a HiTec product - the only way to know if the rest does is a full strip down and comparison against a parts list - there are spare gear sets listed by HiTec for these servos.
@@scott_aero3915 On the DS2685BLDP page of the Promodeler website it gives some details on the HS-1100WP and they suggest that it also uses a brushed motor - So it appears that HiTec do not understand their own products.
It's also possible that HiTec has additional OEM ranges which aren't typically available to us commoners, with slightly different specifications. That might also explain the lack of labelling.
wonderful video. thank you for sharing. Where do you buy this stuff? eBay?
👍👏👏👏
Покажи датчик положения, на чем он выполнен ? Зачем нужна цепь FEEDBACK OUTPUT на U6 ? Это отладочный вывод?
seems like an expensive rc servo usually used for expensive rc models
Could you also check out the Turkish drone Bayraktar TB-2 ?
Bu qiziq bo'lar edi
Could you decap the microcontroller to get an idea if it is really an ST or some clone/fake part?
would be cool to take a look at the firmware from it though.
@@MirceaPrunaru Probably read protected, getting past that with LN2 and things is *sometimes* possible, but it's quite hard and unlikely to work.
China buys 3 billion dollars of STM chips every year. The genuine articles are readily available, as are even cheaper domestic equivalents.
It would not be very interesting to reverse engineer the firmware. There are plenty of open source examples and tutorials showing how to implement this functionality.
@@cogoid exactly right
Nothing to see, Hitec is a very reputable and high-quality brand for servomotors in the hobby world, this one of them. No clones or fakes in there, it's good stuff.
At 3:10, the protection varnish you see on the PCB is "conformal coating" (en.wikipedia.org/wiki/Conformal_coating )
He even said it's the silicone style...
We use this conformal coating too, in our case it is from a British company and works very well. But the PCB must be clean and the connectors have to be covered.
We can not make the device 100% totally tight against air, and if the inside is cooling down air will come inside because of the under-pressure and water drops can condense inside at the surface.
@@mikropower01 Yes, usually conformal coating is for PCB protection in hot & humid areas (tropical), but this does not make the PCB waterproof, especially when when condensing. One way to make it completely waterproof is to plunge the PCB in... oil! It will prevent water ingress, this is a technique used in deep sea sensors.
Интересно.
Там действительно необходимо усилие в 200кг?
Не усилие а момент 200 кг*см, причем уже в состоянии клина. Рычаг сантиметров 10, значит рабочее усилие не более 10 кг.
I wonder why they build their own servos? Is it because they need more torque than a commercial one? Also it's interesting they need a microcontroller from ST and an opto-isolator from Toshiba both of which are or soon will be sanctioned by the US and prevented from shipping to Iran. Most of the rest of the semiconductors are from Chinese suppliers, i.e. inside the Russia/China/Iran bloc. Of course it's possible they're confident in their ability to get hold of parts from ST and Toshiba and/or have a warehouse full of them. The linear regulators also seem a bit low tech/inefficient compared to switch mode but maybe it doesn't matter. The whole thing does seem like it would be pretty cheap and reliable. And they can always do a version without the Western bloc parts if they run low. E.g. a Chinese RISC-V or unlicensed ARM controller fabbed in China.
I suspect it's designed specifically around the parts they have stored over the years. It's also possible that some of the parts are knock-offs. Either way, it's actually quite a nice design - It would be interesting to see if the gearbox is well-machined.
They don't - I suspect that these are backdoor from the main prime OEM manufacturer - its a HiTec industrial servo.
@@scott_aero3915 That makes more sense actually.
Stm32 chips are produced in masses in China. Maybe the most produced chip at the moment. You can find in light bulbs, washing machines and even watches, smart solder irons, toys and much more. Of course they are not officially licenced from stm and are clones. But the chips are simple and China has plenty of capable chip machines to make these.
US can't stop Iran from having stuff they really want. Iranians have kept their f-14 operational by literally buying components directly from US.
De fabricação chinesa?
Looks nearly identical to some of the servos I've seen in very expensive RC stuff. I'd be interested in how torque-y it is. Perfect Pass makes a 56 kg servo that size with the same aluminum housing. It's truly a monstrous servo,
The wires look so thin. Anyone?
Merci beaucoup Michel ....le schèma est superbe exclus le systeme hall de comutation ...je pense quils ont decide comme ça pour eviter des algorithmes de commutation bases sur la force contrelectromotrice des bobines stator ou ça compliquerait le programme avec un sac d'interrupts..
Je n'ai pas été voir dans le moteur, mais en général ce sont des capteurs à effet Hall qui sont utilisés dans les moteurs brushless. Le schéma ne montre pas les capteurs dans leurs positions réelles, le schéma du moteur est symbolique.
Pour un servomoteur, il est essentiel de pouvoir contrôler le couple même lorsque le rotor du moteur ne tourne pas ou tourne si lentement que la force électromotrice ne peut pas être mesurée de manière fiable. Généralement, cela nécessite d'avoir le capteur d'orientation du rotor.
aujourdhui existent des capteurs magnetiques avec un resolution de 12000 imp. x rev vec canaux a b et z , ou' les commutations uvw sont fournies egalment par des sorties separees , ils peuvent utiliser ce chip , comme ça ils evitent de monter les hall et l'incremental sur l'arbre de sortie ... moi de ma part j'utilise le aeae9955 pour des experiences sur un sewrvo industriel
Brushless motors ESC don't use hall sensors for about 20 years. Switching technology using low resistance mosfets is widely used for 28 years
@@tn1509 ESCs for small remotely controlled drones and airplanes do not need sensors, because the propellers spin at high rpm, and it is easy to estimate the orientation of the rotor by measuring the voltage induced in the coils by the magnets. But if you look at the brushless motors in industrial robots, every motor will have hall sensors. Because they have to hold high torque at low or zero rpm, when the generated back-EFM voltages are so low that they cannot be reliably measured. Lots of other applications have the same requirements.
يقال ان محرك الطائرة هو في الاساس للدراجات النارية😊
If you consider the ground as the little antennas then int can be controlled by the artilery from a distance by the same device....froma mobile station or radar detection of drones...
explain pls
HS-1100WP with the HS-1005SGT case
It's a copy of the HS100. The original Hitec PCB is different. There are many sources for this kind of servos in AliExpress :)
Ces drones sont pilotés par un logiciel de navigation autonome, basé sur une centrale inertielle avec un recalage GNSS.
I am surprised that they can get away with using hall sensors for motorfeedback only, I guess because of the relatively high gear ratio in the servo. Still, you'd guess that a magnetic encoder as an absolute position sensor is just as expensive, but enables you to use sinusoidal commutation.
No they don't. Hall sensors are used only for BLDC sensing (no FOC control). A separate incremental sensor (seen at 2:34) is likely fixed to the output shaft. The uC runs two seperate control functions: for the BLDC itself (likely only the speed control), while the other converts input signal PWM to output shaft absolute position. There is no index sensor, nor any EEPROM memory, so i guess the motor calibrates itself at each power cycle by swinging the shaft to the both extremes and calculates the input scaling factor.
😮How You get that.Very interesting,continue,great videos.But be carefull with this information.
Travail incroyable ! Merci pour votre travail acharné! De tels drones kamikaze finissent souvent dans des maisons ukrainiennes paisibles sans être abattus. La guerre électronique ne les affecte pas ; il est difficile de brouiller les communications par satellite. Une arme efficace. Nous attendons plus d'avis sur des équipements similaires. Très intéressant. Viva la France, Gloire à l'Ukraine
Je me demande comment la France s'est comportée depuis 1917 après l'assassinat de Nicolas II et tous les événements ultérieurs au cours desquels, sous la politique des pédérastes, la France a perdu presque toute influence et l'Angleterre, au contraire, a gagné ? Est-ce cool de vivre parmi les migrants et de crier « Gloire à l’Ukraine » alors que les homosexuels dominent ? Sérieusement? Est-ce là le point culminant du grand peuple français ?
Je me demande comment la France s'est comportée depuis 1917 après l'assassinat de Nicolas II et tous les événements ultérieurs au cours desquels, sous la politique des pédrastes, la France a perdu presque toute influence et l'Angleterre, au contraire, a gagné ? Est-ce cool de vivre parmi les migrants et de crier « Gloire à l’Ukraine » alors que les pédrastes dominent ? Sérieusement? Est-ce là le point culminant du grand peuple français ?
Hello, super vidéo, un servo comme ça pour 1 € ! je suis preneur c'est où ?
Je l'ai acheté sur Ebay à un vendeur situé en Ukraine avec 1€ prix de départ et personne n'a surenchéri.
Such expensive components on a kamikaze drone... I don't know man, even though I'm an engineer and I understand military standards, this seems a bit overkill.
Who would sell anything for 1 euro? Make a gift - possible, but selling... i would not even go to post office to ship it for 1 euro
I bought this item on Ebay, this was the starting price and probably the seller expected more than one bidder.
People use shipping price as reserve.
Why some of commenters think this is copy of some Hitec servo? Servomotor like this is such primitive technology, even average student of electronics engineering is capable to develop and construct such device. Only question is - why would he do that, if such servo is already developed and constructed in china (using chinese parts) and can be bought from china for few euro/dollars 😀
The drops is made by England university and European.that say human right don't want isalamic regim gone because have benefit to them.
You got it dead cheap if it works😂
Proper pronunciation is Ka-mi-KAH-zee, emphasis on the third syllable …
شاهد ۱۳۱ ایرانی .
It is a bloody Hitec Servo from Korea
No, it's a clone. These are listed in alibaba
copy of a Volz servo.
This was truly a fascinating reverse-engineering effort for something designed to blow itself up. None of the parts appeared to meet Western requirements for military components. It really didn't seem "mil-spec" at all. It looks like the sanctions are working and if this is the highest level of components they can get, I truly fear the same substandard parts are used in something like a long range high-yield missile. Even the electronics in the the simplest missiles in the West have to be top notch, tested to death and mounted to housings looking like true engineering artwork. I guess if this cheap junk works, it's "good enough" for Iran. I think the drones that civilians can buy are better quality than what I saw you take apart. I really enjoyed seeing this cheaply designed and built war relic come to life. VERY nice schematics! They don't even care enough to sand off the top of the semiconductors to remove their markings. Could have been a school project for teenagers that got elevated to a workable state.
Look on watch happens in Ukraina PFP dron cost 2 x 700 € destroy one tank for 3000000. € . War must be conducted on a budget, otherwise you will not win against your opponent.
You: “western sanctions are working”
video: **shows basic but well engineered servo motor which is currently being used in drones in multiple conflicts across the worlds as you read this.
Asside from the mil spec stamp on ICs, (which evidently doesn’t matter that much) the sanctions clearly doing nothing stop Iran producing effective drones…
@@SurG30n, I don't think war like this has a budget. Russia is a huge country with massive resources, and probably an unlimited war budget. The United States has massive supplies of advanced weapons and have already sent billions of dollars worth to Ukraine. As long as the US provides Ukraine with limitless amounts of weapons, and Russia keeps sending endless men and weapons into Ukraine, the Ukrainians wind up suffering the most. Hate has no budget. When all the expensive advanced weapons are used up, both sides will kill each other with knives and stones. The whole war is a terrible waste of lives on both sides. Lack of money will not stop the fighting. Even though Western weapons cost a fortune, they are incredibly reliable and accurate.
These are the highest end servos you can get, they're HiTec's industrial line and cost some 400 bucks a pop.
Also what is the point of making disposable stuff expensive? You just overload yourself with needless expenses and logistics.
Ever ask yourself why our assault rifles don't have laser guided bullets? I mean imagine how high tech and militarily advanced this would be!
Not to mention how quickly it would drive your military into bankruptcy.
@@poptartmcjelly7054 I think it comes down to the design philosophies of the "Cold War" era. The US concentrated on cutting edge technology which is incredibly expensive. This makes something like a tactical fighter jet, filled with complex high tech systems, too expensive to make in great numbers. The USSR, always very behind Western technology, had another approach. Instead of making the equivalent of US "Rolex" watch fighters, their approach was to make far simpler "Timex" watch aircraft that did not have the level of technical sophistication but were simple and very rugged. That meant that a lot more of the USSR aircraft could be constructed for far less money. So, the answer to the Western's complex, high cost and high maintenance fighters, was to have higher numbers of simpler fighters made possible by far less cost per aircraft. In any case, it appears that human history shows us that we have always put our best creativity and resources into weapons to kill each other. From arrows and spears thousands of years ago, which took a lot of time and craftsmanship to fabricate at that time, to an F-22 air superiority fighter that has "Fire and forget" missiles launched at targets many miles from the aircraft. Now with AI coming into focus, those "fire and forget" missiles will probably be the first thing AI really controls. Not a self-aware "Terminator" robot type weapon, but a weapon that can recognize a place, or even a person, and be fired from hundreds of miles away. This is all sad. I love the craftsmanship of the latest military electronics, but, once again, we put our best efforts into our weapons. None of this helps the Ukrainians who are stuck in the hell of war.
Until someone builds a complete RC plane with free parts, salvaged from Ukraine ;-)
En Français serait plus compréhensible qu’en Anglais baraguiné.
PLEASE tell you spent more time dumping the code on the controller.
THAT IS WHERE THE MEANINGFUL FORENSIC STUDY LIES!!!
Неплохое лекарство для украины
Stop fooling others....its just 25Kg torque servo...its available online
Lmao, I was thinking that the entire time 😂
Гераньку испортили (
Не беспокойся. Она выполнила своё предназначение.
)))))))))))
@@SeregaTikhonov ждем когда к тебе что-то подообное прилетит и выполнит свео предназначение
@@deaddycruel , мир на пороге третьей мировой. Обязательно прилетит, всем прилетит. И тебе, и мне.
не так.
это геранька испортила.
)))))))))))))))))))))))))))))
Way too much Western stuff makes it to Russia and Iran. It's a Korean commercial servo. Also the connectors must be stopped.
That is 100% china clone, they can make electronics too, and even cheaper, than the "Western stuff "....
That connector exists domestically made in Russia.
Korea is in the west now? Also this is almost certainly a clone, either Iranian or Chinese. If anything China doesn't need western parts for drones, they have a fully domestic industry now (with domestic parts and research). Obviously it was bankrolled in huge part by western cash since Chinese drones are basically dominant in the west too but that's another story
the chinese are making high quality cheap stuff
get out of your bubble
Откровенмя от старого мусорщика из украинской свалки...
Как маленький ребёнрк удивляется разного рода механическим деталям и конструкциям.
Очевидно он живёт за счёт этого мусора, или валяет дурака...
🇷🇺🇷🇺🇷🇺👍
отличная Геранька!