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. 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

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


How a dc motor works

How a DC Motor Works

Brushes


How a dc motor works1

How a DC Motor Works


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 modeling2

Motor Modeling


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


Pittman motor data sheet

Pittman Motor Data Sheet


Electric motors and motion control

Pittman Motor Data Sheet


Bidirectional motor drive h bridge

Bidirectional Motor Drive: H-Bridge


Speed control pwm

Speed Control: PWM

Like Low Voltage (slow)

Like High Voltage (fast)


Rotary shaft encoder

Rotary Shaft Encoder


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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