Professional Documents
Culture Documents
Kevin M. Lynch Laboratory for Intelligent Mechanical Systems Northwestern University Evanston, IL USA
Types of Motors
DC (brushed)
Stepper
RC Servo Solenoid
Types of Motors
DC (brushed) Workhorse, high power Simple to use, two wires Torque proportional to current, steady state constant-load speed proportional to voltage Requires gearing Requires feedback
Stepper
RC Servo Solenoid
Types of Motors
DC (brushed) Useful for low-torque applications with no surprises No feedback required One step per pulse More involved driving circuit
Stepper
RC Servo Solenoid
Types of Motors
DC (brushed) High torque, useful for positioning applications Feedback and gearing built in Position commanded by persistent pulse train Limited motion (less than 1 revolution)
Stepper
RC Servo Solenoid
Types of Motors
DC (brushed)
Stepper
RC Servo Solenoid For on-off applications Simple to use Short stroke Powered in only one direction; requires external spring for return
DC Motors
Lorentz Force Law: F=IxB F = force on wire I = current B = magnetic field Right hand rule: index finger along I, middle finger along B, thumb along F
Inside a DC Motor
DC Motors
V = IR + L (dI/dt) + kew t = kt I V I R L w t ke kt voltage current resistance inductance speed torque electrical constant torque constant
DC Motor Specs
Driving a DC Motor
Switches and relays Transistors Linear push-pull stage with op amp Ideally: H-bridge and PWM
Practical Issues
flyback diodes for inductive kick heat sinks for transistors capacitors to smooth voltage spikes other noise issues, isolation
Gears
Gear ratio G wout = win / G tout = h G tin
(h = efficiency)
Encoder Feedback
US Digital
Feedback Control
Stepper Motor
Bipolar: 4 wires
1 A 2 3 B 4
A B R R R R L L L L L L R R
Unipolar: 5 or 6 wires
+V alternately ground one end of coil or other
Animation of Unipolar
Driving a Stepper
RC Servo Motor
3 wires: power, ground, control
Solenoid
Plunger attracted or repelled by current through a coil. May be driven by a relay or transistor.
Questions?