Lab2,PartATasks

MeasurecharacteristicsoftherobotDCmotor Determinemodelparameters Compareexperimentalandsimulationresults

ECEN2270

ElectronicsDesignLaboratory

Experimentalsetup

Placetherobotplatformonastandoffbox,toallowthewheelstorotatefreely ConnectabenchpowersupplyasavariableVDC voltage Important: |VDC|mustnotexceed10V,|IDC|mustnotexceed1A.Setthepower supplylimitsaccordingly Supplytheencoderfrom710V Useascopevoltageprobetoobserveoneoftheencoderoutputsandtomeasurethe pulsefrequencyfenc

ECEN2270 ElectronicsDesignLaboratory 2

Experimentalsetup

Encoderoutputs AandB
Theseare05VlogicsignalOUTPUTs, NEVERsupplyanyDCvoltagestothese pins.Ascopeprobeshouldbeconnected betweenoneofthetwooutputsand ground(notbetweenoutputsAandB!) ECEN2270

+VDC
Thickredandblack wire:motorVDC,make surethesupplycurrent limitissetto1A

+VCC
Encodersupply,connectto VCC=+10Vsupply. Encoderwillworkcorrectly forVCCdowntoabout+7V

ElectronicsDesignLaboratory

PartA.1:determineRM
Usetheseparate+06VbenchsupplyforthemotorVDC,make sureyousetthecurrentlimitto1A Usethe+10VbenchsupplyfortheencoderVCC ArmatureresistanceRM canbefoundfromalockedrotor experiment:holdthewheelsothatthespeedofrotationiszero, measureVDC andIDC Inthereport,includemeasureddataandexplainhowyou determinedRM

ECEN2270

ElectronicsDesignLaboratory

PartA.2:determinek,B,Tint
Motorconstantk,frictioncoefficientB,andinternalmotor torqueTint canbeestimatedfromanunloadedmotor experiment: letthewheelrotatefreely sweepVDC from0to10V,thisrequirestwodifferentsetups: (1)forVDCbetween0and6Vusetheseparate06Vsupply, whilekeepingencoderVCC=+10V (2)ForVDCbetween7.5Vand10V,supplybothVDCandVCC togetherfromthesamesupplyvoltage measureIDC andfenc Inthereport,includemeasureddataandexplainhowyou determinedk,B,andTint.YoumayuseanExcelspreadsheetto enterdataandperformcalculations

ECEN2270

ElectronicsDesignLaboratory

PartA.3:determineJ
MomentofinertiaJcanbeestimatedfromamotorturnoff transientinanunloadedmotorexperiment: Turnonthemotorat+10V Letthewheelrotatefreelyatconstant+10Vinput Turnoffthemotorsupplyvoltage(usingthesupplyoutput on/offbutton)tobringthesupplycurrenttozero UseascopeprobetomeasureVDC duringthetransient Inthereport,includemeasuredscopescreenshotsandanydata measuredonthescope,andexplainhowyoudeterminedJ

ECEN2270

ElectronicsDesignLaboratory

PartA.4:Validatethemodel
DownloadtheLTspice modelforthemotorfromtheLab2websiteand updatethemodelparametersbasedonyourresults SetupandrunappropriateDCorTransientsimulationstocomparethe modeltothemeasurementstakeninPartA.1(forexample,setupthe equivalentofalockedrotorexperimentinsimulationandverifythe expectedVDC andIDC) SetupandrunappropriateDCorTransientsimulationstocomparethe modeltothemeasurementstakeninPartA.2(forexample,setupthe equivalentofanunloadedmotorexperimentinsimulationandverifythe expectedVDC,IDC,andfenc) SetupandrunaTransientsimulationtocomparethemodeltothe measurementstakeninPartA.3(e.g.letthespeedsettleatagiveninput VDC,thenturnoffthesupply,meaningbringthesupplycurrenttozero) Inthereport,includerecordedLTSpice resultsandsimulationwaveforms. Comparethesimulationresultstotheexperimentalresultsandcomment onthebehaviorofthemodel
ECEN2270 ElectronicsDesignLaboratory 7