EECS 373
Design of Microprocessor-Based Systems
Student Presentations
Tianhua Zheng and Jason Shintani
Motor control November 27th, 2012
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Announcements
Today is a good day! Motors are awesome!
Outline
Minute quiz Announcements Special purpose motors (servos, steppers, actuators) H-bridge
CEMF
Servo Motors A motor that has an on-board electric circuit for controlling the direction of rotation, as well as the position, of the output shaft. Typical rotation range: 90 degrees or 180 degrees Typical price range: $10 to 10s of $1,000.
Servo Motor Control Closed loop control
Measure the exact position of the motor head Fix the gaps from the desired position by controlling the motor
Control signal: PWM
Operate between 4.8V and 6V Generally @ 50Hz
Example PWM for servo
The position of the motor is not determined by duty cycle but the high time. Typically 1.5ms high corresponds to the neutral position.
Usage of Servo Motors Used in a wide variety of application
Robotic arms Toy-cars, air-planes and helicopters Industrial machinery
Easy to control
Only need PWM signal
Low energy consumption
Works in closed loop
Small Size
As small as several inches squared
Torque vs. cost
Cost of Torque - Servo Motor
80 70
60
50
40
Cost of Torque - Servo Motor Poly. (Cost of Torque - Servo Motor)
30
20
10
0 0 -10 50 100 150 200 250
Stepper Motor A brushless DC electric motor that divides a full rotation into a number of equal steps Offers precise rotation control and relatively high rotational speed
Generally can turn in 0.9 to 1.8 degree in each direction
Unipolar and Bipolar, or Hybrid
Difference in the way the electromagnets are connected Different control methods
Stepper Motor Control
Single-Step controlling method
Double-Step controlling method
Half-Step stepping method
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Stepper Motor Control
Need controller to generate waveform to drive the stepper motor
Discrete Transitions
Smooth Transitions (Micro stepping)
Usage of Stepper Motor Used in a wide variety of application in industry
Computer Peripherals Business Machines
And also in everyday life
BBQ grill Stage intelligent light systems Power windows and power seats
High positioning accuracy, large torque, reliability.
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Torque vs. cost
Cost of Torque
1800
1600
1400 1200 1000 Cost of Torque 800 600 400 200 0 40.00 Expon. (Cost of Torque)
50.00
60.00
70.00
80.00
90.00
100.00
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Outline
Minute quiz Announcements Special purpose motors (servos, steppers, actuators) H-bridge
CEMF
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H-bridge A set of four switches, mechanical or solid-state, with series pairs in parallel. Used to provide direction control for DC motors. Often found in IC packages. DC brushed motors
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H-bridge speed control Control signal: PWM
Unlike servos, H-bridges use PWM to regulate power supplied to the motor. This can be correlated to speed if the mechanical load is know or thru closed-loop feedback from a quadrature encoder. 50,000Hz 60,000Hz
PWM generation
The PWM signal is generated by switching one of the two switches that have current flowing. For example, if the motor from the previous slide was running right, 1001, PWMing S1 would limit the current to the motor.
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1001 - Forward
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0110 - Reverse
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1100, 0011, 1111 Shoot thru
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H-bridge components and application A motor controller that supports power (speed) control is made of four MOSFETs or BJTs.
Typically, N-Channel MOSFETs are chosen because of their low source to drain resistance. Solid-state switches are chosen because they allow for higher switching frequencies and wear less on each individual throw (no sparks).
Mechanical switches are much cheaper but do not allow for effective power (speed) control.
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H-bridge application
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Non H-bridge applications Servos Stepper motors Non-reversible configurations AC motors DC brushless motors
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Outline
Minute quiz Announcements Special purpose motors (servos, steppers, actuators) H-bridge
CEMF
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Counter-electromotive force (CEMF) When dealing with high-current DC motors CEMF must be considered.
CEMF is a product of Faradays Law of Induction and Lenzs Law. The CEMF is created by the spinning armatures. The CEMF is how motors are also generators.
Why is this important?
Because large motors will generate large CEMF induced currents. If the H-bridge goes into a breaking state care must be taken to properly divert and dissipate the current.
CEMF can also be used to sense speed and load.
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0101 - Break
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0110 1100 - Possible break circuit
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Thank You!
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Servo Motor VS. Stepper Motor
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DC brushless motor
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