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EML 2023 – Motor Control

EML 2023 – Motor Control. Lecture 2 – Motor. Let’s answer 3 questions. How is the motor held in place and how is it connected to the shaft that it is to rotate? How does the encoder work and how is it physically connected to the motor? How do the DAQ and motor driver work?.

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EML 2023 – Motor Control

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  1. EML 2023 – Motor Control Lecture 2– Motor

  2. Let’s answer 3 questions. • How is the motor held in place and how is it connected to the shaft that it is to rotate? • How does the encoder work and how is it physically connected to the motor? • How do the DAQ and motor driver work? analog speed signal desired position current Motor Driver Motor Computer and DAQ digital direction signal Encoder sensed actual position

  3. DC Motor • a typical DC motor can rotate at a top speed of 2600 rpm (43⅓ rev/sec) • gearing is used which slows the speed of the output shaft, but increases the torque • gear train • worm gear drive • epicyclic gear train

  4. gear train epicyclic gear train worm gear drive

  5. Typical Speed vs. Torque Curve Design tip: DC motors usually operator at 10-30% of their stall torque. Motors that are subjected continuously to higher loads are more prone to mechanical failure or heat-related degradation. Stall Torque Torque, lb-ft Optimum operating range Rotational Speed, rad/sec No-load Speed

  6. Buehler DC Motor 10 mm 6 21 mm M4 – 0.7 mm threads

  7. Denso DC Motor

  8. How does the computer control the motor? control the current (via the voltage)

  9. Denso DC Motor how is the motor connected to ground? how is the motor connected to the steering shaft?

  10. Connecting the Motor to Ground Denso Buehler #6 - 32 M6 – 1mm pitch

  11. Denso DC Motor

  12. Buehler DC Motor

  13. Let’s answer 3 questions. • How is the motor held in place and how is it connected to the shaft that it is to rotate? • How does the encoder work and how is it physically connected to the motor? • How do the DAQ and motor driver work? analog speed signal desired position current Motor Driver Motor Computer and DAQ digital direction signal Encoder sensed actual position

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