DC Motor PWM Speed Control + Previous methods of speed control used resistors to drop current/voltage in either the armature or the field. This results in a loss of electrical energy through the control resistor. + Anelectronic alternative that is commonly used is ‘Pulse Width Modulation’. + Full voltage is provided to the motor, but is rapidly pulsed on and off to reduce the average current supplied to the motor. CEES FeV eM eM MSI OgPWM Terminology + Duty Cycle: On-time of pulse stream supplied to the motor, expressed as a percentage. « H-Bridge: Common solid-state motor switching circuit. — Full H-Bridge — Forward and reverse Operation. — Half H-Bridge — Uni-directional control ona cTeCy FeV eM eM MSI OgBrushless DC Motors * Standard DC motor — Magnetic field is stationary in stator, rotor poles switch polarity due to commutation to provide constant rotation. * Brushless DC motor — Magnetic field of rotor is fixed (imagine permanent magnet). Magnetic field in stator poles is electronically commutated, provides rotating magnetic field. Rotor follows... + Motor contains internal position encoder to provide position feedback to the control system. cTeCy FeV eM eM MSI OgDC Brushless Motors cont’d + Advantages: — High efficiency (no losses across brushes) — Absence of arcing at brushes — reduces electrical noise. High-speed operation possible Semen eA Mc=)ife loll 1am Co) Mare al (clare Ualexcy + Applications: Sema le.91 10 — Aerospace — Biomedical ( heart pump motors) cTeCy FeV eM eM MSI OgDC Stepper Motors + Rotate in discrete steps. « Provide holding torque when stationary. - Allow accurate shaft positioning without shaft encoder. + Must be used with stepper motor controller. + Specified based on step increment: 18°, 15°, 7.5°, 5°, Sear Reon eA + If applied torque exceeds holding torque, rotor turns, falling “out of step”. cTeCy FeV eM eM MSI OgFull-Step Stepper Operation 4/1/2014 Poems re eee Sosa oeCTS Half-Stepper Operation Fe ems te eee Slo saoStepper Motor Operation + Steppers are used for accurate positioning: Robotics, printers, feeders, etc. « Stepper motors must be accelerated and decelerated at a controlled rate (‘ramping’) to prevent falling out of step + Continuous operation at uniform speed is known as ‘Slewing’. + Required Reading: Pages 1-30 LeesonMotors.pdf on scratch drive. cTeCy FeV eM eM MSI Og