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Motor Drive 101

Motor Drive 101. TEAM RED GOOSE Team Leader: Nick Gibala Team Assistant: O’Shea Browner Hardware Specialist: Salvatore Palermo Software Specialist: Isidro Garcia. Overview. - Problem Statement - Hardware -Requirements/Concepts - Interface - Software - Polarity - Code - Q&A.

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Motor Drive 101

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  1. Motor Drive 101 TEAM RED GOOSE Team Leader: Nick Gibala Team Assistant: O’Shea Browner Hardware Specialist: Salvatore Palermo Software Specialist: Isidro Garcia

  2. Overview - Problem Statement - Hardware -Requirements/Concepts - Interface - Software - Polarity - Code - Q&A

  3. Problem Statement • What’s the issue? • Motor Driver: to add functionality to the motor, giving motion to the SmartCar

  4. Hardware MC33926 Motor Driver Carrier Can provide power to a single DC brushed motor

  5. Specifications • Motor driver Carrier size 1.2 inch by 1 inch • Supply Ratings • 5-28 volts • 3 Amps continuous ; 5 Amp peak • PWM up to 20kHZ • 2 inputs for direction control • 2 outputs to connect motor • under-voltage, over-current, and over-temperature protection

  6. Throttle Control H-Bridge

  7. Connections

  8. Putting it all together All proper connections are made according to previous slide Additionally a switch going from one of the outputs to the motor Duty cycle determining power output Low state gives high impedance state High state gives power

  9. Software

  10. Polarity • ELSnA controls the polarity of the PWM output signal on the pin • 0 = Output Compare forces PWM signal low • 1 = Output Compare forces PWM signal high • 1 bit • Edge-aligned PWM

  11. Code • Initialization • TPM1MOD = 3 * 1000 - 1;  // set TPM's period to 1ms (1KHz) • TPM1C0V = 3 * ?? //setting the beginning pulse width • Main • int percent; • TMP1COV = 3 * percent; //play around with the percentage • HINT: percent will have to be changed

  12. Overview - Problem Statement - Hardware -Requirements/Concepts - Interface - Software - Polarity - Code - Q&A

  13. References • Sumey, Jeff. “CET Microprocessor Engineering.” California University of Pennsylvania. Web. 2 Mar 2014. http://aet.calu.edu/~jsumey. • MCF51JM128 ColdFire Integrated Microcontroller Reference Manual. 2. Freescale Semiconductor, Inc., 2009. Web.http://www.aet.calu.edu/ftp/cet/360/resources/Coldfire/MCF51JM128-RefManual-v2.pdf. • "A Throttle Control H-Bridge." Freescale. Freescale, Mar. 2006. Web. 3 Mar. 2014. <http://www.freescale.com>. • Huang, Han-Way. HCS12/9S12: An Introduction to Software and Hardware Interfacing. 2nd ed. Delmar, Cengage Learning, 2010.

  14. Q&A - Ask away!

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