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Electric Motors and Motion Control

Electric Motors and Motion Control

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Electric Motors and Motion Control

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  1. Electric Motors and Motion Control Ara Knaian

  2. Motors • Motors convert electrical energy to mechanical energy • Motors make things move LINEAR DC BRUSH INDUCTION ELECTROSTATIC STEPPER UNIVERSAL

  3. How a DC Motor Works Brushes

  4. How a DC Motor Works

  5. Motor Modeling • Is this motor big enough? • Will this thing move? • What gear ratio should I use? • How big should my power supply be? • How hot will it get? • How fast can I machine? • What materials can I machine?

  6. Motor Modeling Voltage and Current In Torque and Speed Out Heat Out Power In = Power Out

  7. Motor Modeling

  8. Motor Modeling Torque is proportional to current In an ideal motor (R = 0), speed is proportional to voltage At constant voltage, speed goes down as torque goes up

  9. Pittman Motor Data Sheet

  10. Pittman Motor Data Sheet

  11. Bidirectional Motor Drive: H-Bridge

  12. Speed Control: PWM Like Low Voltage (slow) Like High Voltage (fast)

  13. Rotary Shaft Encoder

  14. Motor Control: Linear Servo Loop Mechanical System Controller Motor Encoder Set Point (desired position, velocity) Measured Output (position/velocity) e.g. PID

  15. Practical Motor Controller Block Diagram Mechanical System H Bridge Motor Encoder Limit Switch Microcontroller