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If you are driving inductive loads, whereas it is a brushed or brushless DC motor,
stepper motor, solenoid or a relay, you must have experienced a little bit of a problem in
the form of an unwanted current flowing in the unwanted direction. If you did not take
this fact of the laws of physics into account, chances are you have had the only once
enjoyable experiencing of smoking your transistor. Whether it was a bipolar transistor or
a FET, if a mechanism to overcome this generated current was not put in place, said
3
transistor will not last long. But why does this happen?
D
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e
d
S
ys
te
m
s
(5
)
H
Br
id
g
es
(1
1)
M
Case A of our picture shows a current happily flowing into our inductor. I say happily ot
because in essence nothing stops this flow. As soon as the FET is energized, the or
current starts to flow until the inductor saturates. But what happens when the FET is s
disabled? This will eventually happen, right? This may be fine except that all the energy (1
stored inside the inductor will now want to get out of its cage, plus the current can not 7)
change abruptly so whatever was going in, must continue going out. As a result the R
inductor is now the source and the FET the load. But the FET is off!!! This angry o
current, as portrayed on case B, will not care too much about its path not being present. b
A path will be made, one way or the other! And as it is often the case, the voltage goes oti
up in such a way that the FET is damaged. cs
(9
We need to provide a way for this current to find a safe path which not encompasses
)
the destruction of our transistor switch. And the solution often comes in the form of what
St
is called a free wheeling diode. Notice the diode is placed such that while the FET is on,
e
it can not conduct (its voltage from anode to cathode is negative). It is only when the
p
FET is OFF, that the inductor operating as a source makes the voltage across the diode
p
positive, hence making it conduct. In this case, the FET sees no current flow and no
er
negative voltage.
M
But why do we need to bother about this when dealing with H Bridges? The previous ot
example shows a simple single FET driver. Are H Bridges subjected to the same or
problems? Yes and No! In essence the problem still exist because inductive loads will s
still try to conduct through a disabled FET when said switch gets disabled. So an H (9
Bridge would suffer the same fate as the single transistor driver if an alternate path is )
not provided. However, the H Bridge has enough alternate paths, and this is where U
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current recirculation or decay modes come into play. Lets take a look at the H Bridge nc
quickly. at
e
g
or
iz
e
d
(1
)
On an H Bridge you only enable as much as two FETs at any given time. It is
completely forbidden to enable the two FETs on the same side, as this would lead to
Shoot Through (a short circuit from power supply to ground). If you enable the hi side
FET on the left side (AH), and the low side FET on the right side (BL), then the current
flows from left to right. If the inductive load was say a DC motor, then the motor would
spin in one direction, say clockwise. If on the other hand, you enable the high side FET
on the right side (BH), and the low side FET on the left side (AL), then the current would
flow from right to left. This has the desirable effect of turning the motor in the opposite
direction, in this case counterclockwise.
Unfortunatelly, all is good only if we never disable those FETs. Because as soon as
you do, then the current will try to keep on flowing on the same direction, which should
result in flames right? Not necessarily What if we add freewheeling diodes to save the
day? Four of them should do, right? As it turns out, we do not need them! Like I said
before, there is already more than plenty alternate routes and all we have to do is use
the very same FETs we already have and their associated internal body diodes. This
has a few advantages:
1. Since extra diodes are not needed (and as long as the body diodes are used only
for very brief periods of time) we can save on component cost
2. The FETs are considerably much more efficient than diodes anyway, so we can
decrease the amount of power loss in the form of heat.
But how does this work? The first thing we must understand is that Shoot Through must
be avoided at all times. So, if we are going to use some or all of the unused FETs on
the system, it is imperative that we do not turn them ON while the previously active
FETs are still ON. Confused? If AH is ON, we can not let it be ON, while AL is ON, and
so forth.
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In Fast Decay Mode we use the opposing FETs to offer an alternate path for the current
to flow through. Notice that it looks identical to the polarization in which we allowed for
the current to flow in the opposing direction. However, it is very important we remember
current does not tolerate abrupt changes. Hence, long before the current can flow in the
opposite direction, it must decay to zero. Then, it can start flowing as we saw before.
Fast Decay Mode is called as such because this is the fastest the current will die to
zero. Notice you are basically placing a voltage source plus two voltage drops (there is
a voltage drop across each FET given by the current multiplied by the FET RDSon)
across the inductance. Since the inductance voltage can only be as large as the voltage
source, the new voltage we are applying to the inductor is larger and as such will fight
considerably hard for the already existing current to die out.
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and all bets are off. You could of course design the body diodes to be large and
powerful, but whats the point? Shortly after we will be enabling a way better path which
is the opposing FET!
In Slow Decay mode we use the FETs on the same H Bridge segment. Per example
you can use either both high side FETs or both low side FETs. The typical convention is
to use the low side FETs.
The idea behind this method is that current is allowed to decrease through zero as the
inductor recirculates the current through a resistive path. Notice that as both low side
FETs are enabled, the current is basically dissipating a voltage across the two FETs
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RDSon. It is called slow decay because although current eventually decays to zero, it
takes longer than fast decay mode. This makes sense as we are not applying a voltage
opposing the current, which would definitely be the fastest we could fight the existing
current.
How slow the decay mode is depends on the motor inductance and the FETs RDSon.
The smaller the RDSon, the longer it will take for the current to decay to zero.
When it comes to DC motors, however, there is a very interesting effect while using this
decay mode. While on fast decay mode the DC motor rotor coasts down in speed, with
slow decay mode the rotor stops very quickly. This is because as can be seen by the
above picture, you are shorting the DC motor terminals. This in essence implies the
BACK EMF voltage source inside the motor to be shorted. And if there is no BACK
EMF, there can be no speed. One is directly tied to the other. We call this phenomenon
braking the DC motor or the collapse of the Back EMF. Braking is vital when you want
to stop your motor very fast and possibly obtain a particular position. With coasting, this
would not be possible, so be aware that selecting slow decay or fast decay with DC
motors is not a trivial endeavor.
I like to point out, when I discuss slow and fast decay mode, that the names slow and
fast are pertinent to current, not to DC motor speed. They imply a direct relationship
with how fast the current decays through the winding. However, when it comes to how
fast the DC motor speed decays, it is the total opposite. Kind of annoying, but I guess
one thing leads to the other. So be careful not to think that fast decay will stop the motor
very fast, because it is actually the opposite.
There is one third of current decay which we call Mixed Decay Mode because it is
actually a mixture of Slow and Fast Decay modes. By definition, you inccur in Mixed
Decay if through the entire current decay cycle a percentage of it is slow and the
remaining percentage is fast. Why do we need this feature? In DC motors it is pretty
much unused, but when it comes to steppers, specially while microstepping, Mixed
Decay is a must!
This may be a little bit advanced, but what happens is that as you are trying to
synthesize a sine wave across your stepper motor winding, drawing said wave shape
will become harder at some points in time. Per example, when you are charging the
winding (angles of 0 to 90), it is very easy to superimpose the waveshape of a sine
wave. But when you are discharging the winding (angles of 90 to 180), then the motor
inductance will dictate whether you can discharge fast enough or not. If the motor
inductance is too high, chances are you will not be able to superimpose the correct sine
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wave shape and deformation occurs. This is because the decay mode is too slow!
So a solution would be to use fast decay. This will definitely solve the problem, but
another problem occurs. Fast decay mode has the side effect of high current ripple.
Remember the current is swinging considerably more than on slow decay mode. This
poses a few unwanted problems such as EMI magnitude increasing (larger current
peaks are of course gives a stronger radiation) and more audible noise, depending on
the current chopping frequency.
So what we need is an in between. Some decay rate that is not too fast or too slow.
Mixed Decay mode gives us that. Some devices will allow you to control the exact rate
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of the mixed decay mode. The DRV8811 is a good example. Other devices, such as the
DRV8824 and DRV8825, just give you a fixed rate of mixed decay mode. For most
applications, this is enough.
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James
October 10, 2010 at 5:14 pm
Reply
fenderbirds
October 18, 2010 at 4:56 pm
Reply
Pingback: How to Select the R and C at the RCx Pins on the DRV8811 Bipolar
Stepper Driver Avayan's Roboticus Projecteria
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B-nogart
February 3, 2011 at 6:31 pm
I am simulating fast decay, slow decay and mixed decay modes and
I have a doubt.
It wouldnd be faster in fast decay mode if you first turn the AH FET
off, then you turn the BL off, and then you turn AL on and finally BL
on? Becuase I think in this way you avoid some milisiconds in which
the bridege is in slow decay mode (when Al and BL are turned on)
and therefore, the decay could be some milisecond faster.
Thank you
Reply
Avayan
February 7, 2011 at 12:11 am
Hi B-nogart,
I dont think the H Bridge will ever be in slow decay. And before I
go with my analysis, let me point out that the break and make
connection of switching the FETs is in nano seconds, not micro
seconds or milli seconds. This has to be VERY fast! Otherwise,
the current in the winding would die out through the body diodes.
Just so you have an idea, the DRV88xx devices I use so much
have dead times (the amount of time in which the FETS are off
and the system waits to turn them ON again), is about 500 ns. In
other words, as soon as the first FET turns OFF, a counter starts
to count for 500 ns (more or less) and after this time, the
opposing FETs will be turned ON.
You are right about the order in which things happen. First thing
you do is disable the high side FET. This may take about 100 ns,
which is what is called the fall time. While the FET is turning OFF,
the respective low side body diode will turn ON. In other words,
for a few nano seconds, you will have asynchronous slow decay.
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However, this really does not last too long as you will disable the
low side FET shortly after. Right at this time, the respective high
side body diode will be forward biased, in which case you will now
be in full fledged asynchronous fast decay until the respective
FETs are enabled taking you to synchronous fast decay.
Reply
Gustavo
February 23, 2012 at 12:53 pm
I would like to know if there is any maths analysis for explaining the
fast decay. I mean some kind of calculation that allows to determine
the decay time as a function of coil paramaters and power supply
voltage, etc.
Reply
avayan
February 24, 2012 at 12:19 am
Hi Gustavo,
Reply
dzeus
March 21, 2012 at 2:54 pm
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Id like to know if its possible to reverse the logic that drive the dual
H-bridge (bipolar stepper motor) to allow a Fast decay to occur for
exemple going from 1010 to 0101 with two input XOR logic when the
set/reset latch go high (chopper circuit), do we need to add some
delay to avoid a Shoot Through ?
Reply
avayan
March 21, 2012 at 5:20 pm
Hi dzeus,
Reply
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Dzeus
March 22, 2012 at 2:23 pm
Hi Avayan
Thank you for your quick reply
I used to use Allegro A3977 which is nice IC but like the TI DRV8811
it has 2.5Amp maximum output,now I need more power for nema34
stepper motor (5Amp) so Im thinking using micro-controller and a
power bridge ( starting with Four IR2104 and maybe IRF540
FETs,old stuff but robust combo)to get up to 8Amp with micro-
stepping of course, I have read somewhere that I can turn off the
H-bridge (one coil) and get Fast decay If theres the free whiling
diodes but thats 8 more diode (4 for each coil) and they must sustain
up to 8 Amp (?) so now I should go for a software modification to
reverse the logic that drive the power FET while taking into account
the dead time to avoid Shoot Through unless I found another
discrete solution
unfortunately theres no reliable translator IC in the market TI was
supposed to lunch one but theyre not selling it yet (equivalent to
Allegro A3986)
Reply
avayan
March 22, 2012 at 5:58 pm
Hi Dzeus,
Also want to point out that the DRV8818 came out a few weeks
ago and it has lower RDSon than the DRV8811, so it is easier to
get to the 2.5A sine wave peak.
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Now, talking about your IRF solution First off, the IR2104
already has shoot through protection, so there should be no way
to enable both same side FETs at the same time. So far you are
safe. As you described, if you disable the H Bridge (outputs are
placed in tri state mode while SD* is HI), then the IRF540 FETs
body diodes will take the current. These diodes should be large
enough to take in an 8A current considering the device is rated at
33A (In actuality it can go up to 110A if pulsed!). Hence, I dont
think you need external diodes to accomplish this technique.
I must add, however, that using the body diodes is not the most
efficient thing to do. Since the diode path is not very efficient (you
can not control its impedance), the power losses will haunt you.
The best solution is to use the opposing FETs (lower RDSon
implies lower I^2*R losses and lower heat). This is piece of cake
as all you need to do is invert the H Bridge.
I must also point that only using fast decay is ill fated if wanting to
microstep, and at 8A I am thinking you will need hearing aid after
some time operating the stepper. The problem is that fast decay
will give you horrendous current ripple which in turn translates to
sub harmonic components beating the heck out of your ear canal.
Nobody likes this. To make matters worst, high current ripple also
means lower average current which in turns mean lower torque.
Nothing good can come out of fast decay. Why does it exist then?
The truth is that (as I explaine on some other post) you would
want to use slow decay at all times and maximize current usage.
However, as you microstep and draw your sinewave, slow decay
can only work for so long. In quadrants 1 and 3 (as you are
charging up the winding) to use slow decay is all peachy.
However, as you delve into quadrants 2 and 4 (as you are
discharging the winding), then the sine wave deforms. Remember
it is easier to charge than to discharge when using sloe decay
current regulation.
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Reply
Dzeus
March 24, 2012 at 2:38 pm
Hi avayan
thank you so much,you have such a way to explain things thats
everything will look simple
Im continuing learning about stepper motor control and any input will
be full welcome
Cheers
Reply
Marco
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Thanks for the article, very clear, interesting and amazing current
pictures!
Reply
Ahmet
February 4, 2013 at 9:22 pm
Reply
Divya Alok
February 18, 2013 at 6:33 am
Hi Avayan,
Amazing Post.very informative. I have few queries though.
1) I am using DRV8825 to control a stepper motor. If you have used
this IC, please mail me a schematic.
2) If we use..high power diodes on AOUT1/2 BOUT1/2 pins in such a
way that they protect the H Bridge FETs.will the system always
remain in fast decay mode ?
3) I have seen many schematics where they connect Vcc/2 around
1.65V to decay mode pin on the IC. What is the reason for that ?
Reply
avayan
February 18, 2013 at 10:40 am
Hi Divya,
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When they connect the DECAY at half supply, this is like placing
the device on mixed decay mode. On DRV8825 there is no need
to do this as the device will enter mixed decay mode when the pin
is left floating. You can save on the two resistors.
Reply
Divya Alok
February 20, 2013 at 11:42 am
Thanx Avayan!!!
Please answer some more queries
4) Why have nFAULT and nHOME pins been left unconnected ??
5) Why have you used 3.3K pull-ups for the MODEs, STEP, DIR,
nENABLE, nRESET & nSLEEP ??
These input pinshave internal pull-downs and should be directly
interfaced with digital signals.
And as you said, we should the DECAY pin floating because this
pins has internal pull-ups and pull-downswhich will cause a Vdd/2
voltage to appear on the pin and hence activate the mixed decay-
mode.
Reply
avayan
February 20, 2013 at 2:00 pm
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The CNC Control machine will then send the respective control
signals to those signals that do need to change. You do not need
to drive all inputs with digital signals. Placing the pin in a known
condition (such as pulled up or pulled down) is a legal condition.
In other words, there is no need to tie every single line to a
microcontroller output.
Yes, the DECAY pin has internal pull up and pull down so when
the pin is left disconnected it sits at 1.67V telling the system to
enter mixed decay mode. This only applies to DRV8824/25, BTW.
DRV8811/18 do have an analog input which will give you tunable
mixed decay mode.
Reply
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Divya Alok
February 21, 2013 at 5:27 am
Thanx Again!!!
Avayan, I did not get this part of your reply.
Do note that just because I placed pull up resistors does not mean I
need to populate them. You can always choose to build the board
without them. If you leave them off and want to add them at a later
time, well that doesnt work as well. For the most part, I use them,
though.
Do you recommend using Pull-ups ?? If yes.is it just because..of
safety and some redundancy in electronics is always justified ??
And alsoI read about your CNC work, it is amazing.Please give
me ur gmail id.
Reply
avayan
February 22, 2013 at 7:27 pm
Hi Divya,
If you fear glitches and their implications, then you need to add
pull up/down resistors to ensure those glitches are not present.
This is also highly dependent on the application. For example, if it
is a medical or automotive application, the glitch may be lethal. If
it is a toy, chances are it will not make much difference.
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Reply
Keng Hou
February 25, 2013 at 4:18 pm
Hi Avayan,
http://i.imgur.com/P4PZ2xZ.png
(the voltage for the winding is supposed to be like this)
http://i.imgur.com/C64mPnH.png
(this was the voltage I observed)
CH1 was one side of the winding and CH2 was the other side of the
same winding.
I suspect that this was happened due to the current circulation. I built
the circuit according to the schematic given in the L293E datasheet
http://www.datasheetcatalog.org/datasheet/stmicroelectronics
/1328.pdf
Reply
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avayan
February 25, 2013 at 7:06 pm
Hi Keng,
Reply
newbie
March 18, 2014 at 4:24 pm
Reply
avayan
March 18, 2014 at 7:09 pm
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Reply
Michael
October 22, 2014 at 3:15 pm
Hi avayan,
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during the off phase a reverse voltage is used to cancel out the back
EMF.
It seems that slow decay mode has all the benefits, why would one
choose fast decay over slow decay?
Reply
avayan
October 22, 2014 at 4:03 pm
Hi Michael,
The short answer is that you want short decay for anything
like brushed DC, brushless DC and full step stepping, but
fast (or even better mixed decay) for microstepping. The
reason is that on microstepping, you want the winding
current to emulate a sine wave shape. During quadrants 1
and 3 (when the current is charging), slow decay works OK.
On quadrants 2 and 4 (when the current is discharging), the
wave shape gets all distorted due to the lack of an ability to
follow the current command. This current deformation
causes torque ripples which are best to eradicate. As a
result, mixed decay mode is used in most of the stepper
controllers out there. Mixed decay is a combination of fast
decay.
The only other case where you will want fast decay is when
you want to let a DC motor (brushed or brushless) coast
down in speed when they are disabled. This is more like
letting the H Bridge float than an actual fast decay mode.
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Reply
Michael
October 24, 2014 at 2:45 pm
Hi avayan,
Reply
Dinesh
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Thanks..!!
Really interesting article..
Reply
Dinesh
October 29, 2014 at 11:07 am
Hi,
kindly let me know; Is Decay mode required for BLDC motor driver
for steering application; while sudden breaking not required.
Reply
avayan
October 29, 2014 at 11:52 am
Hi Dinesh,
Reply
MattC
March 20, 2015 at 11:51 pm
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The other day all motors suddenly stopped moving during a print,
although there was no error message and the print completed.
Any suggestions of where else to look for the source of this strange
behavior?
Thanks!
-Matt
(PS: I have reflashed the board a few times, and re-installed S3D
twice.
I also replaced the MEGA2560 chip with no change in behavior.)
Reply
avayan
March 21, 2015 at 12:02 am
Hi Matt,
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With that being said, there are two things I would check:
Reply
matt
March 21, 2015 at 3:18 pm
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Any thoughts?
Reply
avayan
March 21, 2015 at 8:13 pm
Hi Matt,
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Reply
matt
March 22, 2015 at 2:52 pm
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Matt
David Sun
April 14, 2015 at 5:26 pm
it is very impressive that this thread still alive after it first posted 5
years ago.
I have a design now with DRV8837, it is powered by battery and
power consumption is very critical to us.
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Reply
avayan
April 14, 2015 at 5:56 pm
The trade off is that when you use fast decay your average
current is less and as a result the torque must also be less.
You will also get higher torque ripple (because there is
higher current ripple). In my opinion, the power saving
advantage (if any) does not outweight the inherent motion
quality issue. As a result, I treat any DC motor application as
a slow decay mode implementation. Fast decay only makes
sense under certain condition with steppers (e.g.
microstepping and the need of mixed decay), and even less
on some BLDC motor control schemes.
Reply
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Robert Randolph
May 29, 2015 at 3:52 pm
How would you hook this up? I tried using a shunt resistor but
apparently Im either using an incorrect value or Im not probing the
right places.
Reply
avayan
May 29, 2015 at 10:34 pm
Hi Robert,
There are some techniques which you can use but none like
an actual current probe. For all of them you will need
something. Here I go in some detail on the techniques I
know. There might be others.
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Reply
Robert Randolph
May 30, 2015 at 1:44 pm
Thank you very much for the response, and thank you for
replying to the comments on your article. So few people
do that these days.
I will give #1 and #2 a shot, and if all else fails fall back to
#3.
Reply
Sanket
June 8, 2015 at 5:54 pm
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Slow, Mixed and Fast Decay Modes. Why Do We Need To Complicat... https://ebldc.com/?p=86
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avayan
June 8, 2015 at 8:51 pm
36 of 40 04/07/2017, 10:47
Slow, Mixed and Fast Decay Modes. Why Do We Need To Complicat... https://ebldc.com/?p=86
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37 of 40 04/07/2017, 10:47
Slow, Mixed and Fast Decay Modes. Why Do We Need To Complicat... https://ebldc.com/?p=86
Francisco
September 3, 2015 at 10:07 pm
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Matija
January 26, 2016 at 2:52 am
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avayan
January 27, 2016 at 1:18 pm
Hi Matija,
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Egon
May 22, 2017 at 2:40 am
Hi Avayan,
38 of 40 04/07/2017, 10:47
Slow, Mixed and Fast Decay Modes. Why Do We Need To Complicat... https://ebldc.com/?p=86
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avayan
May 22, 2017 at 8:56 am
Hi Egon,
If the entire loop resistance was zero, then the current would
be recirculating forever! Of course there is no such thing as
a zero resistance path so clearly there will be some in the
FETs, the motor winding, the wires, etc. Whatever this
resistance is, the current will dissipate down to zero in a
time that is inversely proportional to resistance magnitude.
The larger the resistance, the more current gets dissipated
in the form of heat and the quicker the motors inductance
current decreases down to zero.
I think you are parting from the premise that the higher the
resistance, the smaller the current for any given voltage. For
the most part, this is true. However, with inductive loads,
their current can not change abruptly. When the H bridge is
disabled, the inductor current will still be there and all we
can do is dissipate it through resistors until it decays down
to zero. So the resistance will still limit the current but now it
becomes more of a transient as opposed to the immediate
value you get while using the equation I = V/R. Which is
because now you need to take into consideration that the
inductor voltage is VL = L*di/dt.
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