มอเตอร ไฟฟ ากระแสตรง หร อมอเตอร ด ช (Direct Current Electrical Motor or DC Motor)

Transcription

1 MOTOR DC Motors

2 มอเตอร ไฟฟ ากระแสตรง หร อมอเตอร ด ช (Direct Current Electrical Motor or DC Motor)

3 มอเตอร ไฟฟ ากระแสตรง

4 ชน ดของมอเตอร ด ซ มอเตอร ด ซ แบ งเป น 2 ประเภทใหญ ๆ ค อ ชน ด 1. ใช Bush (Brush DC Motors ) 1.Iron Core Motor 2. Disk Motor 3. Cup Motor ( หร อ Bell, หร อ Shell หร อ Basket wound) 2. ไม ใช Bush (Brushless DC Motors )

5 ส วนประกอบของมอเตอร ด ช

6 การทางานของมอเตอร ด ช

7 The speed of any torque can be found using the basic motor performance equation below. V = applied voltage Ia = armature load R = armature resistance KE = voltage constant for given motor design and winding When KE is volts/krpm, speed will be in krpm

8 Properties of DC motors Operating Voltage Recommended voltage for powering the motor Most motors will run fine at lower voltages, though they will be less powerful. Can operate at higher voltages at expense of operating life Operating Current When provided with a constant voltage, a motor draws current proportional to how much work it is doing.

9 Properties of DC motors continued When there is no resistance to its motion, the motor draws the least amount of current; when there is so much resistance as to cause the motor to stall, it draws the maximal amount of current. Stall current: the maximum amount of operating current that a motor can draw at its specified voltage Torque Rotational force that a motor can deliver at a certain distance from the shaft The more current through a motor, the more torque at the motor s shaft.

10 Properties of DC motors continued Power Product of the output shaft s rotational velocity and torque Output Power Zero Case 1: Torque is zero. Motor is spinning freely with no load on the shaft. Case 2: Rotational velocity is zero. Motor is stalled, it is producing its maximal torque.

11 Properties of DC motors continued In between two extremes, output power has a characteristic parabolic relationship.

12 Working with DC Motors Turn a motor on and off with a BJT

13 Working with DC Motors continued Turn a motor on and off with a relay

14 Working with DC Motors continued Direction Control : switch the power connections, the motor turns in reverse Using a DPDT Switch

15 Notes : Types of Switches SPST : Single-Pole, Single-Throw DPDT: Double-Pole, Double-Throw SPDT: Single-Pole, Double- Throw 3PDT: Triple-Pole, Double-Throw DPST: Double-Pole,Single-Throw

16 Working with DC Motors continued Speed Control Using a variable resistor (Not efficient due to lost heat through the BJT but easy to implement)

17 H-Bridge Motor Driver Circuit Four transistors form the vertical legs of the H, while the motor forms the crossbar. In order to operate the motor, a diagonally opposite pair of transistors must be enabled. Transistors Q1 and Q4 enabled Starting with the positive power terminal, current flows down through Q1, through the motor from left to right, down Q4, and to the negative power terminal. Results in motor rotating in a clockwise direction

18 H-Bridge Motor Driver Circuit continued Transistors Q2 and Q3 enabled Results in current flowing through the motor from right to left

19 Enable and Direction Logic DIR L =0, DIR R=1, enable signal =1: Q1 and Q4 turn on, and current flows through the motor from left to right DIR L =1, DIR R=0, enable signal =1: Q2 and Q3 turn on, and current flows through the motor from in the reverse direction

20 Active Braking What happens if both direction bits are the same state, and the enable bit is turned on? Effectively, both terminals of motor are connected together Transistors in the H-bridge act as a wire connecting the motor terminals. The transistors absorb the energy generated by the motor and cause it to stop. If, on the other hand, none of the transistors is active, then the motor is allowed to spin freely.

21 Speed Control Reducing the voltage applied to the motor Giving a motor 1/4 of its normal operating voltage typically would result in much less than 1/4 of nominal power, since the power increases approximately as the square of the voltage The H-bridge circuit allows control of a motor s speed simply by turning the drive transistor pair on and off rapidly. Duty cycle : proportion between on time and off time determines fractional amount of full power delivered to motor

22 การควบค มความเร วมอเตอร ด ซ การควบค มความเร วของมอเตอร ด ซ ม อย หลายว ธ ว ธ PWN (Pulse Width Modulation) เป นว ธ หน งท น ยมใช ก นมาก หล กการของว ธ น ค อกระแสท ป อนเข า มอเตอร จะเป นพล ส ท ม ความถ คงท แต ความกว างของพล สเปล ยนแปลงได ถ าพล สแคบความเร วจะต า แต ถ าพล สกว าง ความเร วจะส ง

23 Speed Control continued Tends to be fairly linear (25% duty cycle yields pretty close to onequarter of full power) Pulse Width Modulation (PWM) works by rapidly turning the motor drive power on and off. Waveforms shown would be connected directly to the enable input. Three sample duty cycles are shown: a 75%, a 50%, and a 25% rate. The frequency used in PWM control is generally not critical. Over a fairly wide range, from between 50 Hz and 1000 Hz, the motor acts to average the power that is applied to it.

24 H-Bridge Driver ICs : L293D/SN One-Half of L293D/SN Motor Driver Chip Each triangular driver replaces one leg, or two transistors, in the H-bridge circuits. Each driver may be either driven high (enabled and input is high), driven low (enabled and input is low), or turned off (disabled and input doesn t matter). To make the motor spin, the enable input must be high, and one driver in-put must be high and the other low. If the enable is high, and both driver inputs are high or both are low, then the circuit actively brakes the motor. If the enable is low, then the motor is allowed to spin freely.

25 H-Bridge Driver ICs continued Adds an inverter so that a single bit may be used to determine motor direction Spike-Canceling Diodes Also part of the motor driver chips are four diodes connecting from each driver output to either Vs, the motor voltage supply, or ground. These diodes perform the important function of trapping and shunting away inductive voltage spikes that naturally occur as part of any motor s operation.

26 Spike-Canceling Diodes Suppose a voltage greater than Vs is generated by the motor on the OUT 1 line. Then the diode labeled D1 conducts, shunting this voltage to the Vs power supply. If the diodes were not present, these inductive voltage spikes would enter the voltage supply of the rest of the project circuitry, possibly doing damage to more sensitive components.

27 L293/L293D Push-Pull Four Channel Driver ABSOLUTE MAXIMUM RATINGS Collector Supply Voltage, VC V Logic Supply Voltage, VSS V Input Voltage, VI V Inhibit Voltage, VINH V Peak Output Current (Non- Repetitive), lout (L293) A lout (L293D) A

28 ต วอย างการใช งาน

29 วงจรสำหร บกำรทดลอง

30 กำรทดลอง ต อส ญญาณเอาท พ ท PWM สาหร บ ATmega168 ใช ได ก บขา 3, 5, 6, 9, 10, และ 11 ทดลองป อนค า PWM ต างๆจากพอร ทอน กรมเพ อด ว ามอเตอร หม นแตกต างก นอย างไร ประกอบช ดทดลองแล วด ว าค า PWM ต างๆ จะทาให ใบพ ด ยกข นส งอย างไร