ENGR 1110: Introduction to Engineering Lab 7 Pulse Width Modulation (PWM)
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1 ENGR 1110: Introduction to Engineering Lab 7 Pulse Width Modulation (PWM) Supplies Needed Motor control board, Transmitter (with good batteries), Receiver Equipment Used Oscilloscope, Function Generator, Power Supply In-Lab Activity 1) Obtain a cable with a BNC connector on both ends: 2) Connect one end of the cable to the output of the function generator and the other end to CH1 on the oscilloscope. 3) Set the function generator to the following settings: FREQUENCY knob 2 AMPLITUDE knob max (fully clockwise) WAVEFORM button sine wave DC OFFSET knob off (fully counterclockwise) RANGE-Hz button X1k
2 This sets the output to a sine wave at 2 khz (FREQUENCY x RANGE), with an amplitude of approximately 10V (AMPLITUDE at max). Keep power off until oscilloscope is set up. 4) Set the oscilloscope to the following settings: VERTICAL MODE switch CH1 CH1 VOLTS/DIV knob 5 AC/GND/DC switch AC HORIZONTAL MODE switch A A and B SEC/DIV 1 ms
3 Turn on the oscilloscope. Adjust the CH1 vertical POSITION knob until the trace is on the horizontal axis. Turn on the function generator. The display should look something like the following: Do not worry about the other settings on the oscilloscope unless the signal is not clearly visible. If the sine wave is not stable and clear even after checking to make sure the above settings are correct, ask your T.A. for assistance. These settings have equated each vertical block equal to 5V and each horizontal block to 1 millisecond.
4 5) Use the display on the oscilloscope to calculate the frequency of the sine wave (in Hz). Remember 1 Hz = 1/s. 6) Change the following settings on the function generator: FREQUENCY 2 RANGE button x 100K 7) Manually adjust the oscilloscope until the sine wave can be seen clearly. Notice the max amplitude is significantly lower. This is because the function generator has a max power output, and higher frequencies require more power. This means that the max amplitude decreases as the frequency increases. 8) Calculate the frequency of the new signal two different ways: first, by using the settings on the frequency generator and, second, by using the display and settings on the oscilloscope. 9) Decrease the frequency of the function generator to 20 khz. What setting does the SEC/DIV knob on the oscilloscope need to be set to in order for one period to be to equivalent to 5 horizontal blocks? 10) Continue to play with the settings on the function generator and the oscilloscope until you feel comfortable with their basic settings. For the function generator, focus on the following: frequency knob, range buttons, amplitude knob, waveform buttons, and the DC offset knob. For the oscilloscope, focus on the volts/div knob and the sec/div knob. If you have any questions, ask your T.A. 11) Now, power off and disconnect the function generator. You will not be using it the remainder of the lab. Obtain your RC transmitter and receiver and your motor control hardware. 12) (a) Obtain a power supply. Do not connect it to anything. Use a DMM to adjust the output to 15V. Make sure the CURRENT knob is fully CW (maximum). Turn off the power supply. (b) Connect the power supply to the input-voltage terminals of the motor controller board, as shown below (pos. on right, neg. on left). Have your TA verify the connections are correct before turning on the power supply. (c) Turn on the power supply. The LED on the motor controller board should turn on.
5 13) Connect the receiver unit to the motor control board as shown below. 14) Obtain a cable with a BNC connector on one end with red and black probes on the other end: 15) A PPM signal is transmitted from the remote, captured by the receiver, and input into a microcontroller. This microcontroller outputs 6 servo PWM channels. View CH3 on the oscilloscope by connecting the BNC end to the o-scope, the black probe to any ground on the control board, and the red probe to the CH3 jumper as shown in the next two figures:
6 16) On the o-scope, set CH1 VOLTS/DIV 2 and SEC/DIV 2ms. Turn your TX on, and view the servo PWM signal on the o-scope. It should look like the following: 17) Adjust the output of the TX by moving the CH3 joystick around. Moving the stick all the way one direction will show the minimum duty cycle (lowest average voltage) and moving the stick completely in the other direction will show the maximum duty cycle (maximum average voltage). Examples are shown in the two photos that follow. Take measurements that will allow you to calculate the minimum and maximum duty cycle. (You will need to do this for homework.)
7 Min: Max: There are six channels that have outputs similar to this one. Each of these can be used to drive servo motors. CH2 and CH3 are inputs into other microcontrollers to produce motor PWM signals. 18) Connect the oscilloscope probes to different servo PWM channels. Play with these and ask questions to your T.A. until you begin to feel comfortable with the oscilloscope, PWM theory, and the basic idea of signals. 19) Make sure you completely clean up your workspace before leaving.
8 Homework (to be done individually and turned in at the beginning of the next lab): Follow the format specified on the syllabus (as possibly modified by your TA). 1) Answer the question in step 9. 2) Report the measurements you made in step 17, and use those to calculate the minimum and maximum duty cycle. Show your work. 3) What is the relationship between PWM duty cycle and motor speed? Hint review lecture 5.
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