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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

Electric Motors and Motion Control

Ara Knaian


Motors
Motors

  • Motors convert electrical energy to mechanical energy

  • Motors make things move

LINEAR

DC BRUSH

INDUCTION

ELECTROSTATIC

STEPPER

UNIVERSAL




Motor modeling
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 modeling1
Motor Modeling

Voltage and Current In

Torque and Speed Out

Heat Out

Power In = Power Out



Motor modeling3
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





Speed control pwm
Speed Control: PWM

Like Low Voltage (slow)

Like High Voltage (fast)



Motor control linear servo loop
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
Practical Motor Controller Block Diagram

Mechanical System

H Bridge

Motor

Encoder

Limit Switch

Microcontroller


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