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Electric Motors and Motion Control. Ara Knaian. Motors. Motors convert electrical energy to mechanical energy Motors make things move. LINEAR. DC BRUSH. INDUCTION. ELECTROSTATIC. STEPPER. UNIVERSAL. How a DC Motor Works. Brushes. How a DC Motor Works. Motor Modeling.

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Electric Motors and Motion Control

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Electric Motors and Motion Control

Ara Knaian

Motors

• Motors convert electrical energy to mechanical energy

• Motors make things move

LINEAR

DC BRUSH

INDUCTION

ELECTROSTATIC

STEPPER

UNIVERSAL

Brushes

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?

Motor Modeling

Voltage and Current In

Torque and Speed Out

Heat Out

Power In = Power Out

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

Pittman Motor Data Sheet

Pittman Motor Data Sheet

Speed Control: PWM

Like Low Voltage (slow)

Like High Voltage (fast)

Motor Control: Linear Servo Loop

Mechanical System

Controller

Motor

Encoder

Set Point (desired position, velocity)

Measured Output (position/velocity)

e.g. PID

Practical Motor Controller Block Diagram

Mechanical System

H Bridge

Motor

Encoder

Limit Switch

Microcontroller