motorcontrol - DC MOTOR CONTROL SYSTEMS FOR ROBOT...

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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 74HC14A 3 4 U1C 74HC14A 5 6 U1D 74HC14A 9 8 U1E 74HC14A 11 10 U1F 74HC14A 13 12 C1 CAP NP D1 DIODE D2 DIODE R2 POT 1 3 2 MG1 MOTOR DC 1 2
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H-Bridge motor driver circuit V+ V+ +5 +5 +5 +5 M1 DC Motor Q1 IRF9510 Q5 2N2222 Q8 2N2222 R6 4.7K R2 4.7K R1 4.7K R3 4.7K R5 4.7K U1C 74HC08 9 10 8 14 7 U1B 74HC08 4 5 6 14 7 Q4 IRF510 U1C 74HC08 9 10 8 14 7 R4 4.7K Q6 2N2222 Q2 IRF9510 Q3 IRF510 U1A 74HC08 1 2 3 14 7 Q7 IRF510 Input A Input B PWM Input CIRCUIT INPUTS S S SS D D D D G G G G A B C Output 0 0 0 N Channel Brake 1 1 0 P Channel Brake 1 0 0 Forward 0 1 0 Reverse X X 1 Motor Off D G S
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Optical encoder circuit U6B 74HC86 4 5 6 R6 4.7K R7 4.7K D4 5V D3 5V R9 4.7K D6 5V D5 5V R8 4.7K U6A 74HC86 1 2 3 U6D 74HC86 12 13 11 U6C 74HC86 9 10 8 R10 10K C15 0.001uF C14 0.001uF R11 10K U27A 74HC14 1 2 U27B 74HC14 3 4 U27D 74HC14 9 8 U27C 74HC14 5 6 U27F 74HC14 13 12 U27E 74HC14 11 10 Tach Input A Tach Input B Tach Input A Tach Input B L. Motor R. Motor
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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 SUM FEEDBACK OUTPUT = (INPUT – OUTPUT) X GAIN
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Motor control diagram PROCESSOR DC MOTOR ENCODER H-BRIDGE CIRCUIT
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This note was uploaded on 08/03/2010 for the course MECHANIC 65921 taught by Professor Jons during the Spring '10 term at Tampa.

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motorcontrol - DC MOTOR CONTROL SYSTEMS FOR ROBOT...

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