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EECS 373: Design of Microprocessor-Based Systems

The document summarizes a student presentation about motor control. It discusses several types of motors including servo motors, stepper motors, and H-bridge motors. Servo motors use closed-loop position control and PWM signals. Stepper motors precisely control rotation through discrete steps. H-bridge circuits provide direction control for DC motors using PWM to regulate speed. Counter-electromotive force must also be considered for high-current DC motors.

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Chirkov Kire
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82 views30 pages

EECS 373: Design of Microprocessor-Based Systems

The document summarizes a student presentation about motor control. It discusses several types of motors including servo motors, stepper motors, and H-bridge motors. Servo motors use closed-loop position control and PWM signals. Stepper motors precisely control rotation through discrete steps. H-bridge circuits provide direction control for DC motors using PWM to regulate speed. Counter-electromotive force must also be considered for high-current DC motors.

Uploaded by

Chirkov Kire
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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EECS 373

Design of Microprocessor-Based Systems

Student Presentations
Tianhua Zheng and Jason Shintani

Motor control November 27th, 2012


1

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

10

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.

12

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

13

Outline

Minute quiz Announcements Special purpose motors (servos, steppers, actuators) H-bridge

CEMF

14

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

15

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.

16

1001 - Forward

17

0110 - Reverse

18

1100, 0011, 1111 Shoot thru

19

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.

20

H-bridge application

21

Non H-bridge applications Servos Stepper motors Non-reversible configurations AC motors DC brushless motors

22

Outline

Minute quiz Announcements Special purpose motors (servos, steppers, actuators) H-bridge

CEMF

23

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.

24

0101 - Break

25

0110 1100 - Possible break circuit

26

Thank You!

27

Servo Motor VS. Stepper Motor

28

DC brushless motor

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