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STUDENTS:
Fabricio Reyes M
A01670714
Contenido
Principles of motors.........................................................................................2
Difference between AC, DC, Servo, Stepper and RC Servo motors..................2
How do you size a motor?................................................................................5
EQUATIONS...................................................................................................5
Given a problema, how do you determine torque load?...............................6
What parameters do you need to solve for to size motor?...........................6
CONTROL.........................................................................................................6
What are speed curves?...............................................................................6
How do you control torque?..........................................................................7
How do you control speed?...........................................................................8
How do you control position?........................................................................8
Electronics.......................................................................................................9
What is the circuit to control a DC motor with a microcontroller?................9
What is the circuit to control a stepper motor with a microcontroller?.......10
What is the circuit to control an RC Motor with a microcontroller?.............11
Run through a hypothetical example based on one of the systems. Describe
the problem. Run through the calculations....................................................11
Find commercial components........................................................................13
Motors.........................................................................................................13
Drivers........................................................................................................14
Controllers..................................................................................................15
How do you connect these three...................................................................18
Bibliography......................................................................................................19
Principles of motors
A motor is a type of machine that is able to convert electrical energy into mechanical energy.
This is done by a magnetic field, created along a wire when a current goes through it. If this wire
is then placed alongside two magnets, then the temporary magnetism created by the magnetic
field will cause a force on the wire, causing it to rotate. [1]
Motors are vastly used, and can be found in cars, drills, fans, Blu-ray and DVD players, washing
machines, wind turbines and robots, among many other.
There are many different types of motors branching from these two types, Electrical KnowHow
has a chart categorizing the different motors. [3]
A brushed DC motor is an internally commutated electric motor designed to be run from a direct
current power source. They are widely used in toys, and their main advantage is their
inexpensiveness, ease of use and vast amount of sizes. [3]
Since brushed DC motors have several disadvantages, such as wear, sparks (explosions) and
noise produced from the brushes, the brushless DC motors have been gaining popularity, since
instead of having brushes for commutation, they are electronically commutated. Electrical
KnowHow offers a table showing the features of both types of DC motors. [4]
Induction motors are the most common motors used in equipment, they have no need of brushes,
since voltage is induced in the rotor. In Synchronous Motors, the rotor tries to line up with the
rotating magnetic field in the stator, and are often used in systems that use a lot of electricity.
Since Synchronous motors are more complex, they are not as widely used as Induction Motors.
[5] Finally, a linear motor is an unrolled version of a motor, so instead of producing a torque
force, it produces a linear force along its length. [6]
Servo motors and RC Servo motors, unlike Stepper motors, do not move in steps. Servo motors
have two cables, if attached to a power source it will start spinning. Servo motors are also
bidirectional and the speed depends on the amount of load the motor is on.
RC Servo Motors on the other hand, have 3 wires (+V, ground and control), the control signal is
a pulse of around 50 Hz, and the width of this pulse, commonly controlled via a PWM,
determines the position of the motor. [7]
EQUATIONS
In order to successfully accelerate a load, the motor must develop and maintain more torque than
what is required. This can be calculated by the following Formula [9]:
Inertia is the property where a body offers resistance to any change in its rest or motion state, and
Once the torque has been determined, the brake horsepower can be found with the following
Formula [9]:
[13] http://www.designnews.com/document.asp?doc_id=228478
CONTROL
What are speed curves?
For a fixed voltage input from a battery, the speed of the motor is reduced as more load is added
to the shaft. When the motor cant move because of the load, the speed is zero, and the motor
produces a stall-torque (ST), which is the maximum. Also, the current drawn from the battery is
the maximum and the motor is heating. This should be avoided to preserve the energy of the
battery. On the other side, when there is no load, the motor moves freely at the maximum speed,
the no-load-speed (NLS). A balance between the two is called the operating point [10], and the
curves may change between motors.
Electronics
What is the circuit to control a DC motor with a
microcontroller?
To open-loop control a motor with a microcontroller an H-bridge is needed to provide the
negative voltages needed for the motor to go the opposite direction. As can be seen in the image
[12], the circuit needed is the connection between the H-bridge with the motor and the
microcontroller. It is important to note that the H-bridge provides the power to the motor trough
a different voltage source than the 5V needed for digital processing, because if they were the
same the high current could damage the digital systems. Having this connected is a simple matter
of programming the A and B pins to move the motor.
Q2
Q3
Q4
http://www.imagesco.com/articles/picstepper/03.html
T , torque
F , force o r weight
m
0.07 m
2
s
T =28 Nm
d , radius
, angular speed
V
d
0.5
rad / s
0.07
=7,14 rad / s
P=T
T , torque
P , power
, angular speed
P=28 Nm7.14 rad /s
P=200 W
Thats the energy that the battery has to give to the system.
Fig17. RC MOTOR
HS-65HB
HS-65MG
http://hitecrcd.com/products/servos/micro-and-mini-servos/analog-micro-and-mini-servos
STEPPER MOTOR
NEMA17
Drivers
DC MOTOR-STEPPER MOTOR
H-BRIDGE 298
https://www.sparkfun.com/products/9670
NOTE1: L298N Driver controls 2 DC Motors or 1 stepper motor (2 coils)
NOTE2: Servo motors have controllers included so in order to make them move it is necessary a
PWM signal.
Controllers
PIC microcontrollers
PIC microcontrollers are finding their way into new applications like smart phones, audio
accessories, video gaming peripherals and advanced medical devices. Microchip provides
solutions for the entire performance range of 8-bit microcontrollers, with easy-to-use
development tools, complete technical documentation and post design-in support through a
global sales and distribution network.
http://www.microchip.com/pagehandler/en-us/family/8bit/
Fig23. FUSES
There is a 16F628A pic microcontroller that sends PWM signals to the inputs of the Hbridge
L298 in order to control a dc motor.
The L298 driver includes circuit protection with opto adopters. Thus design includes fuses for
overload protection and a capacitor connected to the motor to reduce noise in system.
http://itp.nyu.edu/physcomp/Labs/DCMotorControl
http://www.talkingelectronics.com/projects/H-Bridge/H-Bridge-1.html
Bibliography
[1] C. Woodford, "Electric motors," Explainthatstuff, 30 May 2014. [Online]. Available:
http://www.explainthatstuff.com/electricmotors.html. [Accessed 18 August 2014].
[2] R. Chamberlin, "Difference Between AC and DC Motors," Precision Electronic Industrial
Solutions, 23 May 2013. [Online]. Available: http://www.precision-elec.com/differencebetween-ac-and-dc-motors/. [Accessed 18 August 2014].
[3] Electrical KnowHow, "Classification of Electric Motors," Electrical KnowHow, 2013.
[Online]. Available: http://www.electrical-knowhow.com/2012/05/classification-of-electricmotors.html. [Accessed 18 August 2014].
[4] Electrical KnowHow, "Classification of Electric Motors Part II," Electrical KnowHow,
2013. [Online]. Available: http://www.electrical-knowhow.com/2012/05/classification-ofelectric-motors-part.html. [Accessed August 19 2014].
[5] Electrical KnowHow, "Classification of Electric Motors Part IV," Electrical KnowHow,
2013. [Online]. Available: http://www.electrical-knowhow.com/2012/05/classification-ofelectric-motors-part_22.html. [Accessed 19 August 2014].
[6] Electrical KnowHow, "Classification of Electric Motors Part V," Electrical KnowHow,
2013. [Online]. Available: http://www.electrical-knowhow.com/2012/05/classification-ofelectric-motors-part_24.html. [Accessed 19 August 2014].
[7] R. Arrick, "The Difference Between Stepper Motors, Servos and RC Servos," Arrick
Robotics, [Online]. Available: http://www.arrickrobotics.com/motors.html. [Accessed
August 22 2014].
[8] R. Barnett, "Determining Load Horsepower, Wiring, and Breaker Size for Safe and
Efficient Installations," Fluke, 2014. [Online]. Available:
http://www.fluke.com/fluke/caen/community/fluke-news-plus/ArticleCategories/PlantNews/how-to-properly-size-motors-for-given-load.htm. [Accessed 22 August 2014].
[9] DAE Systems, "How do I properly Size a Motor?," DAE Systems, [Online]. Available:
http://www.trinertia.com/pdf/How_do_I_Properly_Size_a_motor.pdf. [Accessed 22 August
2014].
[10] HyperPhysics, "DC Motors," HyperPhysics, [Online]. Available: http://hyperphysics.phyastr.gsu.edu/hbase/magnetic/motdc.html. [Accessed 18 August 2014].
[11] Freescale, "Motor Principles," Freescale, 2014. [Online]. Available:
http://www.freescale.com/webapp/sps/site/overview.jsp?nodeId=0ST2BDF5DC55DC9.
[Accessed 18 August 2014].
[12] Electrical4u, "DC Motor or Direct Current Motor," Electrical4u, [Online]. Available:
http://www.electrical4u.com/dc-motor-or-direct-current-motor/. [Accessed 18 August
2014].