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Motor Tutorial: Kevin M. Lynch Laboratory For Intelligent Mechanical Systems Northwestern University Evanston, IL USA
Motor Tutorial: Kevin M. Lynch Laboratory For Intelligent Mechanical Systems Northwestern University Evanston, IL USA
Kevin M. Lynch
Laboratory for Intelligent Mechanical Systems
Northwestern University
Evanston, IL USA
Types of Motors
• DC (brushed)
• Stepper
• RC Servo
• Solenoid
Types of Motors
• DC (brushed) Workhorse, high power
Simple to use, two wires
• Stepper Torque proportional to
current, steady state
constant-load speed
• RC Servo proportional to voltage
Requires gearing
• Solenoid Requires feedback
Types of Motors
• DC (brushed)
Useful for low-torque
• Stepper applications with no
surprises
No feedback required
• RC Servo
One step per pulse
More involved driving circuit
• Solenoid
Types of Motors
• DC (brushed)
High torque, useful for
• Stepper positioning applications
Feedback and gearing built in
• RC Servo Position commanded by
persistent pulse train
Limited motion (less than 1
• Solenoid revolution)
Types of Motors
• DC (brushed)
• Stepper
For on-off applications
• RC Servo Simple to use
Short stroke
• Solenoid Powered in only one
direction; requires external
spring for return
DC Motors
Lorentz Force Law:
F=IxB
F = force on wire N S
I = current
B = magnetic field
V voltage
I current 2 - permanent magnet
3 - housing (magnetic return)
R resistance 4 - shaft
5 - winding
L inductance
ω speed ω
Many types
spur, planetary, worm, lead/ball screw, bevel,
harmonic...
Encoder Feedback
Another option:
potentiometer
US Digital
Feedback Control
● Proportional (Integral-Derivative) Control
Multiply position/velocity error by a gain to get control
signal (and perhaps add integral and derivative of
that error multiplied by other gains)
● Unipolar: 5 or 6 wires
+V alternately ground one
end of coil or other
Animation of Unipolar