DC Motor Control Systems for Robots Applications

DC Motor Control Systems for Robots Applications - DC MOTOR...

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FOR ROBOT APPLICATIONS By: Rick Bickle 11/7/2003
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Motor control questions ± Why do we need speed control? ± How is DC motor speed controlled? ± How is motor direction controlled? ± What circuits can be used?
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Reasons for accurate speed control ± Motor speed should be independent of load. ± Differential drive platforms need to synchronize wheel speed to go in a straight line.
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Speed control with PWM ± Pulse Width Modulation
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Simple PWM circuit U1A 74HC14A 1 2 U1B Simple PWM circuit
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H-Bridge motor driver circuit V+ V+ +5 +5 +5 +5
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Motor control diagram PROCESSOR DC MOTOR ENCODER H-BRIDGE CIRCUIT
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Control systems ± What is a control system? ± What are some examples? ± What are the types of control systems? ± How are control systems represented?
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Open loop control systems ± The output of the plant does not affect the input. (No feedback) ± Less common today than closed loop control systems. ± Examples include: ± Stereo volume control ± Electric drill speed control
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Open loop control system GAIN INPUT PLANT OUTPUT = INPUT X GAIN
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Closed loop control systems ± Use a measurement of output to control the input (Feedback) ± Examples include: ± Air conditioning thermostat ± Automobile cruise control
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Closed loop control system GAIN INPUT PLANT
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Motor control diagram PROCESSOR DC MOTOR ENCODER H-BRIDGE CIRCUIT
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DC Motor Control Systems for Robots Applications - DC MOTOR...

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