MICROCONTROLLERS Stepper motor control with Sequential Logic Circuits

Size: px
Start display at page:

Download "MICROCONTROLLERS Stepper motor control with Sequential Logic Circuits"

Transcription

1 PH-315 MICROCONTROLLERS Stepper motor control with Sequential Logic Circuits Portland State University Summary Four sequential digital waveforms are used to control a stepper motor. The main objective of this laboratory session is to illustrate how pulse width modulation helps to implement the sequential logic effectively. 1. Introduction In sequential logic, the outputs of the block depend on both i) the input and ii) the memory of the block. The sequential logic has some kind of memory or feedback capability. In the previous labs we have attained familiarity implementing combinational logic using arrays. In this lab, you will see how sequential logic can be implemented with a sequence of pulses. When operating a stepper motor, the control signals are the input and the stepper motor s positions are the output. The motor always turns from the current position to the next position, so the motor has some kind of memory of its position in the previous step. Figure 1. General platform to implement a sequential-logic circuit. 2. Stepper motor A stepper motor is an electromechanical device that converts electrical pulses into discrete mechanical movements. The shaft or spindle of a stepper motor rotates in discrete step increments when electrical command pulses are applied to it in the proper sequence. The motors rotation has several direct relationships to these applied input pulses: The sequence of the applied pulses is directly related to the direction of motor shafts rotation; the speed of the motor shafts rotation is directly related to the frequency of the input pulses; and the length of rotation is directly related to the number of input pulses applied. Advantages of stepper motors 1. The rotation angle of the motor is proportional to the number of input pulses. 2. The motor is able to apply a large torque at the beginning of the pulse, which provides excellent response to starting/stopping/reversing.

2 3. Because the rotor moves towards already fixed poles, it provides precise positioning and repeatability of movement (error is not accumulative!). One can find stepper motors with 1% position accuracy (even at low price). 4. Very reliable since there are no contact brushes in the motor. 5. A stepper motor has the ability to be accurately controlled with open loop strategies. The latter implies that no feedback information (from precedent rotor position) is needed; that is, each step is implemented independent of what happened in the past. This type of control eliminates the need for expensive sensing and feedback-control devices such as optical encoders. The position is known simply by keeping track of the input step pulses. Disadvantages of stepper motors 1. Resonances can occur if not properly controlled. 2. Not easy to operate at extremely high speeds. Types of Stepper Motors There are three basic types of stepper motors: Variable-reluctance Permanent-magnet Hybrid Variable-reluctance (VR). This type of stepper motor has been around for a long time. It is probably the easiest to understand from a structural point of view. Figure 2 shows a cross section, consisting of a soft iron multi-toothed rotor and a wound stator. When the stator windings are energized with DC current the poles become magnetized. Rotation occurs when the rotor teeth are attracted to the energized stator poles. Figure 2. Cross-section of a variable reluctance (VR) motor.

3 Permanent Magnet (PM). See in fig 3. The permanent magnet step motor is a low cost and low resolution type motor with typical step angles in the range of 7.5 to 15. (48 24 steps/revolution). PM motors have permanent magnets added to the motor structure. The rotor no longer has teeth as with the VR motor. Instead the rotor is magnetized with alternating north and south poles situated in a straight line parallel to the rotor shaft. These magnetized rotor poles provide an increased magnetic flux intensity and because of this the PM motor exhibits improved torque characteristics when compared with the VR type. N S N S S N S Figure 3. Principle of a PM stepper motor. Hybrid (HB). The hybrid stepper motor is more expensive than the PM stepper motor but provides better performance with respect to step resolution, torque and speed. Typical step angles for the HB stepper motor range from 3.6 to 0.9 ( steps per revolution). The hybrid stepper motor combines the best features of both the PM and VR type stepper motors. The rotor is multi-toothed like the VR motor and contains an axially magnetized concentric magnet around its shaft. The teeth on the rotor provide an even better path which helps guide the magnetic flux to preferred locations in the airgap. This further increases the detent, holding and dynamic torque characteristics of the motor when compared with both the VR and PM types. Figure 4. Cross-section of a hybrid stepper motor.

4 When to Use a Stepper Motor A stepper motor can be a good choice whenever controlled movement is required. They can be used to advantage in applications where controlled rotation angle, speed, position and synchronism is needed. Some applications include printers, plotters, high end office equipment, hard disk drives, medical equipment, fax machines, automotive and many more. Drive the motor with a rotating magnetic field When a phase winding of a stepper motor is energized with current, a magnetic flux is developed in the stator. Figure 5 shows the motor rotating clockwise as its pole aligns with the sequentially activated stator poles. To get the motor to rotate we can now see that we must provide a sequence of energizing the stator windings in such a fashion that provides a rotating magnetic flux field which the rotor follows due to magnetic attraction. Figure 5. Bipolar wound stepper motors. The figure shows the individual stators that are sequentially turned ON, while keeping the others OFF. 3. Experimental procedure 3.A LEDs lighted up in sequence. First, we are going to generate sequences of pulses to light up four LEDs. Connect four LEDs to the digital ports D4 D7, like the one shown in the circuit below. TASK: Make a program to light up the four LEDS sequentially; i.e. put LED j in HIGH while keeping all the others in LOW, repeating the process from j=1 to j=4. Take good care of the timing.

5 Figure 6. Bipolar wound stepper motors. The waveform of the output should look similar to the pattern shown in Fig. 7. Figure 7. Waveform of the outputs (for the circuit of Fig. 6). To help us elaborate the code for implementing the waveform digitally and in a sequential way, we have highlighted in green color one period of the waveform In the program we will take this matrix information row by row to write the pins. Run the program suggested in Fig. 8 void setup() { for(int i=4; i<=7; i++) pinmode(i, OUTPUT); void loop()

6 {for (char i=4; i<=7; i++) digitalwrite( i, HIGH), delay(300), digitalwrite( i, LOW); // Notice the i-th waveform is implemented // row by row, according to the matrix below // Fig. 7, and in a PWM format // to increase the sequence speed, decrease the delay time Figure 8. Implementation of sequential logic via PWM. Notice, PWM is implemented in all the four pins, which helps to implement sequential logic effectively. The program in Fig. 8 is short because it capitalizes on using positive and negative logic in the same line (highlighted in light orange color). Otherwise the program may result in being much longer. TASK: Write your own program (alternative to the one in Fig. 8) to generate the same waveform of figure 7. (Some former students used up to 20 lines; hence no worries if your program is too long). Reverse the process implemented above; i. e. in sequence light up LED4 to LED1. Repeat this process and draw the wave form of the outputs. 3.B Connecting the terminals to the stepper motor Upon finishing 3A and 3B successfully, you will have learned the essentials in digitally controlling a stepper motor. In next steps you will see why. 3.B.1 Remove the LEDs and hook up D4 D7 with the ABCD phases of the stepper motor driver board. Connect the 5V power supply and GND to the board. You will see that the stepper motor is running! Figure 9. Connection between the Arduino board and stepper motor.

7 3.B.2 Change the speed and direction of the stepper motor, by changing the delay time. 3.C Alternative method to drive the stepper motor The objective is to output the control sequence shown below to the stepper motor. Figure 10. Alternative wave form (compared to Fig. 7) for full step driving. TASK: Using an analytical analysis, indicate whether or not the waveforms in Fig. 7 and Fig. 10 have a different net effect in driving the stepper motor. If the answer were no, a follow up question would be: why to bother then in designing the new waveforms in Fig. 10. If the answer were yes, indicate the main difference(s). 3D. Advanced driving of a 4 phase stepper motor. Half Step Drive. In Half Step Drive, the stator is energized according to the sequence AB B AB A AB B AB A and the rotor steps from position This results in angular movements that are half of those in 1- or 2-phases-on drive modes. Half stepping can reduce a phenomena referred to as resonance which can be experienced in 1- or 2 phases-on drive modes. By half step driving, even though the stepper motor we are using has four fixed positions, we can make it run at 8 positions. Fig 11 shows the sequences of the half step driving.

8 Figure 11. Half step drive waveforms. Similar to what we did with the waveforms in Fig. 9, we have highlighted in green color one period of the waveform in Fig. 11. This allows to elaborate the matrix needed to make the code implementing the waveform digitally and in a sequential way The program below (Fig. 12) will output the control sequence as shown above to the stepper motor. The difference with the program in Fig. 7 is that the matrix is read in columns (instead of rows). TASK: Make your own alternative program to do the same job. // const byte o4=b ; const byte o5=b ; const byte o6=b ; const byte o7=b ; word delayus=19533; // Here we implement the information // from the matrix. void setup() { for( int k=4; k <=7; k++)

9 pinmode( k, OUTPUT); void loop() { int i, j; { for( j=0; j<510; j++) { // This is the sequential clock for( i=7; i>=0; i--) // Notice we read the bytes from // left to right. { bitread(o4, i)? digitalwrite(4,high):digitalwrite(4,low); Figure 12. bitread(o5, i)? digitalwrite(5,high):digitalwrite(5,low); bitread(o6, i)? digitalwrite(6,high):digitalwrite(6,low); bitread(o7, i)? digitalwrite(7,high):digitalwrite(7,low); delaymicroseconds(delayus);

combine regular DC-motors with a gear-box and an encoder/potentiometer to form a position control loop can only assume a limited range of angular

combine regular DC-motors with a gear-box and an encoder/potentiometer to form a position control loop can only assume a limited range of angular Embedded Control Applications II MP10-1 Embedded Control Applications II MP10-2 week lecture topics 10 Embedded Control Applications II - Servo-motor control - Stepper motor control - The control of a

More information

PART 2 - ACTUATORS. 6.0 Stepper Motors. 6.1 Principle of Operation

PART 2 - ACTUATORS. 6.0 Stepper Motors. 6.1 Principle of Operation 6.1 Principle of Operation PART 2 - ACTUATORS 6.0 The actuator is the device that mechanically drives a dynamic system - Stepper motors are a popular type of actuators - Unlike continuous-drive actuators,

More information

Assembly Language. Topic 14 Motion Control. Stepper and Servo Motors

Assembly Language. Topic 14 Motion Control. Stepper and Servo Motors Assembly Language Topic 14 Motion Control Stepper and Servo Motors Objectives To gain an understanding of the operation of a stepper motor To develop a means to control a stepper motor To gain an understanding

More information

Lab Exercise 9: Stepper and Servo Motors

Lab Exercise 9: Stepper and Servo Motors ME 3200 Mechatronics Laboratory Lab Exercise 9: Stepper and Servo Motors Introduction In this laboratory exercise, you will explore some of the properties of stepper and servomotors. These actuators are

More information

Stepper motor basics

Stepper motor basics APPLICATIONNOTE001 Stepper motor basics What is a stepper motor? A stepper motor is an electromechanical system which is transducing an electrical signal into a mechanical one. It is designed to accomplish

More information

M.Kaliamoorthy and I.Gerald PSNACET/EEE CHAPTER 2 STEPPER MOTORS

M.Kaliamoorthy and I.Gerald PSNACET/EEE CHAPTER 2 STEPPER MOTORS 2.1.General Lecture Notes M.Kaliamoorthy and I.Gerald PSNACET/EEE CHAPTER 2 STEPPER MOTORS Stepper motors are electromagnetic incremental devices that convert electric pulses to shaft motion (rotation).

More information

EEE3410 Microcontroller Applications Department of Electrical Engineering Lecture 11 Motor Control

EEE3410 Microcontroller Applications Department of Electrical Engineering Lecture 11 Motor Control EEE34 Microcontroller Applications Department of Electrical Engineering Lecture Motor Control Week 3 EEE34 Microcontroller Applications In this Lecture. Interface 85 with the following output Devices Optoisolator

More information

Laboratory Exercise 1 Microcontroller Board with Driver Board

Laboratory Exercise 1 Microcontroller Board with Driver Board Laboratory Exercise 1 Microcontroller Board with Driver Board The purpose of this lab exercises is to demonstrate how the Microcontroller Board can be used to control motors connected to the Driver Board

More information

EXPERIMENT 6: Advanced I/O Programming

EXPERIMENT 6: Advanced I/O Programming EXPERIMENT 6: Advanced I/O Programming Objectives: To familiarize students with DC Motor control and Stepper Motor Interfacing. To utilize MikroC and MPLAB for Input Output Interfacing and motor control.

More information

Sensors and Sensing Motors, Encoders and Motor Control

Sensors and Sensing Motors, Encoders and Motor Control Sensors and Sensing Motors, Encoders and Motor Control Todor Stoyanov Mobile Robotics and Olfaction Lab Center for Applied Autonomous Sensor Systems Örebro University, Sweden todor.stoyanov@oru.se 13.11.2014

More information

2.017 DESIGN OF ELECTROMECHANICAL ROBOTIC SYSTEMS Fall 2009 Lab 4: Motor Control. October 5, 2009 Dr. Harrison H. Chin

2.017 DESIGN OF ELECTROMECHANICAL ROBOTIC SYSTEMS Fall 2009 Lab 4: Motor Control. October 5, 2009 Dr. Harrison H. Chin 2.017 DESIGN OF ELECTROMECHANICAL ROBOTIC SYSTEMS Fall 2009 Lab 4: Motor Control October 5, 2009 Dr. Harrison H. Chin Formal Labs 1. Microcontrollers Introduction to microcontrollers Arduino microcontroller

More information

Computer Numeric Control

Computer Numeric Control Computer Numeric Control TA202A 2017-18(2 nd ) Semester Prof. J. Ramkumar Department of Mechanical Engineering IIT Kanpur Computer Numeric Control A system in which actions are controlled by the direct

More information

Step vs. Servo Selecting the Best

Step vs. Servo Selecting the Best Step vs. Servo Selecting the Best Dan Jones Over the many years, there have been many technical papers and articles about which motor is the best. The short and sweet answer is let s talk about the application.

More information

Controlling Stepper Motors Using the Power I/O Wildcard

Controlling Stepper Motors Using the Power I/O Wildcard Mosaic Industries Controlling Stepper Motors Using the Power I/O Wildcard APPLICATION NOTE MI-AN-072 2005-09-15 pkc The Mosaic Stepper Motor The Mosaic stepper motor is a four-phase, unipolar stepping

More information

Lab 8. Stepper Motor Controller

Lab 8. Stepper Motor Controller Lab 8. Stepper Motor Controller Overview of this Session In this laboratory, you will learn: To continue to use an oscilloscope How to use a Step Motor driver chip. Introduction This lab is focused around

More information

CHAPTER TWO LITERATURE REVIEW

CHAPTER TWO LITERATURE REVIEW CHAPTER TWO LITERATURE REVIEW 2.1 Technical Background: 2.1.1 Overview of Satellites: Satellites are objects in orbits about the Earth. An orbit is a trajectory able to maintain gravitational equilibrium

More information

:for... A G!,Jide to Stepp~s~ Se~o~, ~,6d ~er Electrical M~chines

:for... A G!,Jide to Stepp~s~ Se~o~, ~,6d ~er Electrical M~chines :for........ A G!,Jide to Stepp~s~ Se~o~, ~,6d ~er Electrical M~chines Matthew Scarpinc CONTENTS AT A GLANCE Introduction 1 Introduction 1 Introduction to Electric Motors 5 2 Preliminary Concepts 13 II

More information

Modeling Position Tracking System with Stepper Motor

Modeling Position Tracking System with Stepper Motor Modeling Position Tracking System with Stepper Motor Shreeji S. Sheth 1, Pankaj Kr. Gupta 2, J. K. Hota 3 Abstract The position tracking system is used in many applications like pointing an antenna towards

More information

L E C T U R E R, E L E C T R I C A L A N D M I C R O E L E C T R O N I C E N G I N E E R I N G

L E C T U R E R, E L E C T R I C A L A N D M I C R O E L E C T R O N I C E N G I N E E R I N G P R O F. S L A C K L E C T U R E R, E L E C T R I C A L A N D M I C R O E L E C T R O N I C E N G I N E E R I N G G B S E E E @ R I T. E D U B L D I N G 9, O F F I C E 0 9-3 1 8 9 ( 5 8 5 ) 4 7 5-5 1 0

More information

Sensors and Sensing Motors, Encoders and Motor Control

Sensors and Sensing Motors, Encoders and Motor Control Sensors and Sensing Motors, Encoders and Motor Control Todor Stoyanov Mobile Robotics and Olfaction Lab Center for Applied Autonomous Sensor Systems Örebro University, Sweden todor.stoyanov@oru.se 05.11.2015

More information

THE UNIVERSITY OF BRITISH COLUMBIA. Department of Electrical and Computer Engineering. EECE 365: Applied Electronics and Electromechanics

THE UNIVERSITY OF BRITISH COLUMBIA. Department of Electrical and Computer Engineering. EECE 365: Applied Electronics and Electromechanics THE UNIVERSITY OF BRITISH COLUMBIA Department of Electrical and Computer Engineering EECE 365: Applied Electronics and Electromechanics Final Exam / Sample-Practice Exam Spring 2008 April 23 Topics Covered:

More information

AN Industrial Stepper Motor Driver. Application Note Abstract. Introduction. Stepper Motor Control Method

AN Industrial Stepper Motor Driver. Application Note Abstract. Introduction. Stepper Motor Control Method Industrial Stepper Motor Driver AN43679 Author: Dino Gu, Bill Jiang, Jemmey Huang Associated Project: Yes Associated Part Family: CY8C27x43, CY8C29x66 GET FREE SAMPLES HERE Software Version: PSoC Designer

More information

PMSM Control Using a Three-Phase, Six-Step 120 Modulation Inverter

PMSM Control Using a Three-Phase, Six-Step 120 Modulation Inverter Exercise 1 PMSM Control Using a Three-Phase, Six-Step 120 Modulation Inverter EXERCISE OBJECTIVE When you have completed this exercise, you will be familiar with six-step 120 modulation. You will know

More information

Simulation of Stepper Motor using Quasi Square Wave Input

Simulation of Stepper Motor using Quasi Square Wave Input Simulation of Stepper Motor using Quasi Square Wave Input Kavya Sree Chandran P G Scholar Electrical &Electronics Dept. Mar Baselios College of Engineering, Thiruvananthapuram,Kerala, India Abstract Stepper

More information

A COMPARISON STUDY OF THE COMMUTATION METHODS FOR THE THREE-PHASE PERMANENT MAGNET BRUSHLESS DC MOTOR

A COMPARISON STUDY OF THE COMMUTATION METHODS FOR THE THREE-PHASE PERMANENT MAGNET BRUSHLESS DC MOTOR A COMPARISON STUDY OF THE COMMUTATION METHODS FOR THE THREE-PHASE PERMANENT MAGNET BRUSHLESS DC MOTOR Shiyoung Lee, Ph.D. Pennsylvania State University Berks Campus Room 120 Luerssen Building, Tulpehocken

More information

Basic NC and CNC. Dr. J. Ramkumar Professor, Department of Mechanical Engineering Micro machining Lab, I.I.T. Kanpur

Basic NC and CNC. Dr. J. Ramkumar Professor, Department of Mechanical Engineering Micro machining Lab, I.I.T. Kanpur Basic NC and CNC Dr. J. Ramkumar Professor, Department of Mechanical Engineering Micro machining Lab, I.I.T. Kanpur Micro machining Lab, I.I.T. Kanpur Outline 1. Introduction to CNC machine 2. Component

More information

DC motor control using arduino

DC motor control using arduino DC motor control using arduino 1) Introduction: First we need to differentiate between DC motor and DC generator and where we can use it in this experiment. What is the main different between the DC-motor,

More information

Motor control using FPGA

Motor control using FPGA Motor control using FPGA MOTIVATION In the previous chapter you learnt ways to interface external world signals with an FPGA. The next chapter discusses digital design and control implementation of different

More information

Feedback Devices. By John Mazurkiewicz. Baldor Electric

Feedback Devices. By John Mazurkiewicz. Baldor Electric Feedback Devices By John Mazurkiewicz Baldor Electric Closed loop systems use feedback signals for stabilization, speed and position information. There are a variety of devices to provide this data, such

More information

Voltage-Versus-Speed Characteristic of a Wind Turbine Generator

Voltage-Versus-Speed Characteristic of a Wind Turbine Generator Exercise 1 Voltage-Versus-Speed Characteristic of a Wind Turbine Generator EXERCISE OBJECTIVE When you have completed this exercise, you will be familiar with the principle of electromagnetic induction.

More information

Mechatronics Engineering and Automation Faculty of Engineering, Ain Shams University MCT-151, Spring 2015 Lab-4: Electric Actuators

Mechatronics Engineering and Automation Faculty of Engineering, Ain Shams University MCT-151, Spring 2015 Lab-4: Electric Actuators Mechatronics Engineering and Automation Faculty of Engineering, Ain Shams University MCT-151, Spring 2015 Lab-4: Electric Actuators Ahmed Okasha, Assistant Lecturer okasha1st@gmail.com Objective Have a

More information

Page 1. Relays. Poles and Throws. Relay Types. Common embedded system problem CS/ECE 6780/5780. Al Davis. Terminology used for switches

Page 1. Relays. Poles and Throws. Relay Types. Common embedded system problem CS/ECE 6780/5780. Al Davis. Terminology used for switches Relays CS/ECE 6780/5780 Al Davis Today s topics: Relays & Motors prelude to 5780 Lab 9 Common embedded system problem digital control: relatively small I & V levels controlled device requires significantly

More information

Page ENSC387 - Introduction to Electro-Mechanical Sensors and Actuators: Simon Fraser University Engineering Science

Page ENSC387 - Introduction to Electro-Mechanical Sensors and Actuators: Simon Fraser University Engineering Science Motor Driver and Feedback Control: The feedback control system of a dc motor typically consists of a microcontroller, which provides drive commands (rotation and direction) to the driver. The driver is

More information

!! #! # %! & ())) +, ,., / 01 2 & ,! / ))8 /9: : ;, 8) 88)9 () 9) 9)

!! #! # %! & ())) +, ,., / 01 2 & ,! / ))8 /9: : ;, 8) 88)9 () 9) 9) !! #! # %! & ())) +,,., / 01 2 &3 +444 1,! 5 6 0 5655/565 + 7 ))8 /9: : ;, 8) 88)9 () 9) 9) < IEEE TRANSACTIONS ON MAGNETICS, VOL. 36, NO. 5, SEPTEMBER 2000 3533 Influence of Design Parameters on the Starting

More information

Embedded Systems Lab Lab 7 Stepper Motor Application

Embedded Systems Lab Lab 7 Stepper Motor Application Islamic University of Gaza College of Engineering puter Department Embedded Systems Lab Stepper Motor Application Prepared By: Eng.Ola M. Abd El-Latif Apr. /2010 :D 0 Objective Tools Theory To realize

More information

30-80V, 8.2A Peak, No Tuning, Nulls loss of Synchronization

30-80V, 8.2A Peak, No Tuning, Nulls loss of Synchronization 2-phase Hybrid Servo Drive 30-80V, 8.2A Peak, No Tuning, Nulls loss of Synchronization Closed-loop, eliminates loss of synchronization Broader operating range higher torque and higher speed Reduced motor

More information

Simulation of Solar Powered PMBLDC Motor Drive

Simulation of Solar Powered PMBLDC Motor Drive Simulation of Solar Powered PMBLDC Motor Drive 1 Deepa A B, 2 Prof. Maheshkant pawar 1 Students, 2 Assistant Professor P.D.A College of Engineering Abstract - Recent global developments lead to the use

More information

Introduction to Relays. ECE/CS 5780/6780: Embedded System Design. Various Relay Configurations. Types of Relays. Drawing of an EM Relay

Introduction to Relays. ECE/CS 5780/6780: Embedded System Design. Various Relay Configurations. Types of Relays. Drawing of an EM Relay Introduction to Relays ECE/CS 5780/6780: Embedded System Design Chris J. Myers Lecture 15: Relays and Motors A relay is a device that responds to a small current or voltage change by activating a switches

More information

Job Sheet 2 Servo Control

Job Sheet 2 Servo Control Job Sheet 2 Servo Control Electrical actuators are replacing hydraulic actuators in many industrial applications. Electric servomotors and linear actuators can perform many of the same physical displacement

More information

Modelling and Control of Hybrid Stepper Motor

Modelling and Control of Hybrid Stepper Motor I J C T A, 9(37) 2016, pp. 741-749 International Science Press Modelling and Control of Hybrid Stepper Motor S.S. Harish *, K. Barkavi **, C.S. Boopathi *** and K. Selvakumar **** Abstract: This paper

More information

Upgrading from Stepper to Servo

Upgrading from Stepper to Servo Upgrading from Stepper to Servo Switching to Servos Provides Benefits, Here s How to Reduce the Cost and Challenges Byline: Scott Carlberg, Motion Product Marketing Manager, Yaskawa America, Inc. The customers

More information

EE 410/510: Electromechanical Systems Chapter 5

EE 410/510: Electromechanical Systems Chapter 5 EE 410/510: Electromechanical Systems Chapter 5 Chapter 5. Induction Machines Fundamental Analysis ayssand dcontrol o of Induction Motors Two phase induction motors Lagrange Eqns. (optional) Torque speed

More information

Portland State University MICROCONTROLLERS

Portland State University MICROCONTROLLERS PH-315 MICROCONTROLLERS INTERRUPTS and ACCURATE TIMING I Portland State University OBJECTIVE We aim at becoming familiar with the concept of interrupt, and, through a specific example, learn how to implement

More information

Integrated Easy Servo

Integrated Easy Servo ies 1706 Integrated Easy Servo Motor + Drive + Encoder, 18 32VDC, NEMA17, 0.6Nm Features Easy servo control technology to combine advantages of open loop stepper systems and brushless servo systems Closed

More information

SPECIAL MACHINES CONTENTS CONTENTS. Learning Objectives. Stepper motor

SPECIAL MACHINES CONTENTS CONTENTS. Learning Objectives. Stepper motor CONTENTS C H A P T E R39 Learning Objectives Introduction Stepper Motors Types of Stepper Motors Variable Reluctance Stepper Motors Multi-stack VR Stepper Motor Permanent-Magnet Stepping Motor Hybrid Stepper

More information

Administrative Notes. DC Motors; Torque and Gearing; Encoders; Motor Control. Today. Early DC Motors. Friday 1pm: Communications lecture

Administrative Notes. DC Motors; Torque and Gearing; Encoders; Motor Control. Today. Early DC Motors. Friday 1pm: Communications lecture At Actuation: ti DC Motors; Torque and Gearing; Encoders; Motor Control RSS Lecture 3 Wednesday, 11 Feb 2009 Prof. Seth Teller Administrative Notes Friday 1pm: Communications lecture Discuss: writing up

More information

Figure 1. Digilent DC Motor

Figure 1. Digilent DC Motor Laboratory 9 - Usage of DC- and servo-motors The current laboratory describes the usage of DC and servomotors 1. DC motors Figure 1. Digilent DC Motor Classical DC motors are converting electrical energy

More information

ies-2309 Integrated Easy Servo

ies-2309 Integrated Easy Servo Datasheet of the integrated easy servo motor ies-09 ies-09 Integrated Easy Servo Motor + Drive + Encoder, 0-0VDC, NEMA, 0.9Nm Features Easy servo control technology to combine advantages of open-loop stepper

More information

3. What is the difference between Switched Reluctance motor and variable reluctance stepper motor?(may12)

3. What is the difference between Switched Reluctance motor and variable reluctance stepper motor?(may12) EE6703 SPECIAL ELECTRICAL MACHINES UNIT III SWITCHED RELUCTANCE MOTOR PART A 1. What is switched reluctance motor? The switched reluctance motor is a doubly salient, singly excited motor. This means that

More information

CHAPTER 6 FABRICATION OF PROTOTYPE: PERFORMANCE RESULTS AND DISCUSSIONS

CHAPTER 6 FABRICATION OF PROTOTYPE: PERFORMANCE RESULTS AND DISCUSSIONS 80 CHAPTER 6 FABRICATION OF PROTOTYPE: PERFORMANCE RESULTS AND DISCUSSIONS 6.1 INTRODUCTION The proposed permanent magnet brushless dc motor has quadruplex winding redundancy armature stator assembly,

More information

Motion-Control System of Bench-Top CT Scanner

Motion-Control System of Bench-Top CT Scanner Wright State University CORE Scholar Browse all Theses and Dissertations Theses and Dissertations 2008 Motion-Control System of Bench-Top CT Scanner Tarpit Kaushikbhai Patel Wright State University Follow

More information

ES86 Series Closed-loop Stepper Drive + Motor System (Drive+ Motor/Encoder)

ES86 Series Closed-loop Stepper Drive + Motor System (Drive+ Motor/Encoder) ES86 Series Closed-loop Stepper Drive + Motor System (Drive+ Motor/Encoder) Traditional stepper motor drive systems operate open loop providing position control without feedback. However, because of this,

More information

ES86 Series Closed-loop Stepper Drive + Motor System (ES-D808 Drive+ Motor/Encoder)

ES86 Series Closed-loop Stepper Drive + Motor System (ES-D808 Drive+ Motor/Encoder) ES86 Series Closed-loop Stepper Drive + Motor System (ES-D808 Drive+ Motor/Encoder) Traditional stepper motor drive systems operate open loop providing position control without feedback. However, because

More information

Module: Arduino as Signal Generator

Module: Arduino as Signal Generator Name/NetID: Teammate/NetID: Module: Laboratory Outline In our continuing quest to access the development and debugging capabilities of the equipment on your bench at home Arduino/RedBoard as signal generator.

More information

RoHS. Unipolar and Bipolar winding Lead wire type 2H5654U20

RoHS. Unipolar and Bipolar winding Lead wire type 2H5654U20 Stepping Motors 56 mm sq. 1.8 /step RoHS Unipolar and Bipolar winding Lead wire type 35mm sq. Based motor Holding torque at Step Rated Wiring Winding Rotor Weight 2-phase energization angle Winding current

More information

HBS Series Hybrid Servos

HBS Series Hybrid Servos Hybrid Servos 46 Hybrid Servos From the stepper and servo, but surpass them in many applications! HBS Series Hybrid Servos Closed-loop, eliminates loss of synchronization The HBS series use an encoder

More information

Microcontroller Based Closed Loop Speed and Position Control of DC Motor

Microcontroller Based Closed Loop Speed and Position Control of DC Motor International Journal of Engineering and Advanced Technology (IJEAT) ISSN: 2249 8958, Volume-3, Issue-5, June 2014 Microcontroller Based Closed Loop Speed and Position Control of DC Motor Panduranga Talavaru,

More information

Operation of Separately Excited Switched Reluctance Generator

Operation of Separately Excited Switched Reluctance Generator Operation of Separately Excited Switched Reluctance Generator Mahmoud S. Abouzeid Yasser G. Dessouky Department of Control and Electrical Engineering College of Engineering Studies and Technology Arab

More information

Stepper Motors and Control Part I - Unipolar Stepper Motor and Control (c) 1999 by Rustle Laidman, All Rights Reserved

Stepper Motors and Control Part I - Unipolar Stepper Motor and Control (c) 1999 by Rustle Laidman, All Rights Reserved Copyright Notice: (C) June 2000-2008 by Russell Laidman. All Rights Reserved. ------------------------------------------------------------------------------------ The material contained in this project,

More information

6.111 Lecture # 19. Controlling Position. Some General Features of Servos: Servomechanisms are of this form:

6.111 Lecture # 19. Controlling Position. Some General Features of Servos: Servomechanisms are of this form: 6.111 Lecture # 19 Controlling Position Servomechanisms are of this form: Some General Features of Servos: They are feedback circuits Natural frequencies are 'zeros' of 1+G(s)H(s) System is unstable if

More information

Datasheet of the MEZ Stepper Servo Drive MEZ 2D VDC, 8.2A Peak, Closed-loop, No Tuning. Version

Datasheet of the MEZ Stepper Servo Drive MEZ 2D VDC, 8.2A Peak, Closed-loop, No Tuning. Version Datasheet of the MEZ Stepper Servo Drive MEZ D880 4-75VDC, 8.A Peak, Closed-loop, No Tuning Version 0.1.1 http://www.motionking.com Features Step and direction control Closed position loop for no loss

More information

Experiment 3. Performance of an induction motor drive under V/f and rotor flux oriented controllers.

Experiment 3. Performance of an induction motor drive under V/f and rotor flux oriented controllers. University of New South Wales School of Electrical Engineering & Telecommunications ELEC4613 - ELECTRIC DRIVE SYSTEMS Experiment 3. Performance of an induction motor drive under V/f and rotor flux oriented

More information

Electronics Design Laboratory Lecture #6. ECEN2270 Electronics Design Laboratory

Electronics Design Laboratory Lecture #6. ECEN2270 Electronics Design Laboratory Electronics Design Laboratory Lecture #6 Electronics Design Laboratory 1 Soldering tips ECEN 227 Electronics Design Laboratory 2 Introduction to Lab 3 Part B: Closed-Loop Speed Control -1V Experiment 3A

More information

Electronic Speed Controls and RC Motors

Electronic Speed Controls and RC Motors Electronic Speed Controls and RC Motors ESC Power Control Modern electronic speed controls regulate the electric power applied to an electric motor by rapidly switching the power on and off using power

More information

ES86 Series Closed-loop Stepper Drive + Motor System (Drive+ Motor/Encoder)

ES86 Series Closed-loop Stepper Drive + Motor System (Drive+ Motor/Encoder) ES86 Series Closed-loop Stepper Drive + Motor System (Drive+ Motor/Encoder) Traditional stepper motor drive systems operate open loop providing position control without feedback. However, because of this,

More information

Design of A Closed Loop Speed Control For BLDC Motor

Design of A Closed Loop Speed Control For BLDC Motor International Refereed Journal of Engineering and Science (IRJES) ISSN (Online) 2319-183X, (Print) 2319-1821 Volume 3, Issue 11 (November 214), PP.17-111 Design of A Closed Loop Speed Control For BLDC

More information

SPEED CONTROL OF SENSORLESS BLDC MOTOR WITH FIELD ORIENTED CONTROL

SPEED CONTROL OF SENSORLESS BLDC MOTOR WITH FIELD ORIENTED CONTROL ISSN: 2349-2503 SPEED CONTROL OF SENSORLESS BLDC MOTOR WITH FIELD ORIENTED CONTROL JMuthupandi 1 DCitharthan 2 MVaratharaj 3 1 (UG Scholar/EEE department/ Christ the king engg college/ Coimbatore/India/

More information

Application Note. 3-Phase Brushless DC Motor Control with Hall Sensors AN-CM-244

Application Note. 3-Phase Brushless DC Motor Control with Hall Sensors AN-CM-244 Application Note 3-Phase Brushless DC Motor Control with Hall AN-CM-244 Abstract This application note describes how to control a 3-phase brushless DC motor using a GreenPAK. This application note comes

More information

CL86T. 24~80VDC, 8.2A Peak, Closed-loop, No Tuning. Descriptions. Closed-loop. Stepper. Applications. Datasheet of the Closed-loop Stepper CL86T

CL86T. 24~80VDC, 8.2A Peak, Closed-loop, No Tuning. Descriptions. Closed-loop. Stepper. Applications. Datasheet of the Closed-loop Stepper CL86T CL86T Closed-loop Stepper 24~80VDC, 8.2A Peak, Closed-loop, No Tuning Closed-loop, eliminates loss of synchronization Broader operating range higher torque and higher speed Reduced motor heating and more

More information

Experiment#6: Speaker Control

Experiment#6: Speaker Control Experiment#6: Speaker Control I. Objectives 1. Describe the operation of the driving circuit for SP1 speaker. II. Circuit Description The circuit of speaker and driver is shown in figure# 1 below. The

More information

SPEED CONTROL OF INDUCTION MOTOR WITHOUT SPEED SENSOR AT LOW SPEED OPERATIONS

SPEED CONTROL OF INDUCTION MOTOR WITHOUT SPEED SENSOR AT LOW SPEED OPERATIONS SPEED CONTROL OF INDUCTION MOTOR WITHOUT SPEED SENSOR AT LOW SPEED OPERATIONS Akshay Prasad Dubey and Saravana Kumar R. School of Electrical Engineering, VIT University, Vellore, Tamil Nadu, India E-Mail:

More information

Robot Actuators. Motors and Control. Stepper Motor Basics. Increased Resolution. Stepper motors. DC motors AC motors. Physics review: Nature is lazy.

Robot Actuators. Motors and Control. Stepper Motor Basics. Increased Resolution. Stepper motors. DC motors AC motors. Physics review: Nature is lazy. obot Actuators tepper motors Motors and Control DC motors AC motors Physics review: ature is lazy. Things seek lowest energy states. iron core vs. magnet magnetic fields tend to line up Electric fields

More information

42 mm sq /step

42 mm sq /step Stepping Motors 42 mm sq..9-1.8 /step RoHS Unipolar and Bipolar winding Lead wire and Connector type Based motor Holding torque at Step Rated Wiring Winding Rotor Weight 2-phase energization angle Winding

More information

SPEED CONTROL OF BRUSHLES DC MOTOR

SPEED CONTROL OF BRUSHLES DC MOTOR SPEED CONTROL OF BRUSHLES DC MOTOR Kajal D. Parsana 1, Prof. H.M. Karkar 2, Prof. I.N. Trivedi 3 1 Department of Electrical Engineering, Atmiya Institute of Technology & Science, Rajkot, India. kajal.parsana@gmail.com

More information

Half stepping techniques

Half stepping techniques Half stepping techniques By operating a stepper motor in half stepping mode it is possible to improve system performance in regard to higher resolution and reduction of resonances. It is also possible

More information

Exercise 2-2. Antenna Driving System EXERCISE OBJECTIVE DISCUSSION OUTLINE DISCUSSION

Exercise 2-2. Antenna Driving System EXERCISE OBJECTIVE DISCUSSION OUTLINE DISCUSSION Exercise 2-2 Antenna Driving System EXERCISE OBJECTIVE When you have completed this exercise, you will be familiar with the mechanical aspects and control of a rotating or scanning radar antenna. DISCUSSION

More information

Real Time Stepper Motor Control Using ARM Microcontroller and MATLAB GUI For Satellite Ground Station Tracking

Real Time Stepper Motor Control Using ARM Microcontroller and MATLAB GUI For Satellite Ground Station Tracking Real Time Stepper Motor Control Using ARM Microcontroller and MATLAB GUI For Satellite Ground Station Tracking Arjun R 1, Harshith Patte 2, Harshith V 3, Karthik K R 4, Narayana T Deshpande 5, Dhruti Ranjan

More information

Speed Control of BLDC Motor Using FPGA

Speed Control of BLDC Motor Using FPGA Speed Control of BLDC Motor Using FPGA Jisha Kuruvilla 1, Basil George 2, Deepu K 3, Gokul P.T 4, Mathew Jose 5 Assistant Professor, Dept. of EEE, Mar Athanasius College of Engineering, Kothamangalam,

More information

Actuators. DC Motor Servo Motor Stepper Motor. Sensors

Actuators. DC Motor Servo Motor Stepper Motor. Sensors Actuators Sensors 2 Actuators DC Motor Servo Motor Stepper Motor Sensors 3 1. The stator generates a stationary magnetic field surrounding the rotor. 2. The rotor/armature is composed of a coil which generates

More information

STEPPER MOTOR DRIVE FOR COMPUTER NUMERICAL CONTROL MACHINES

STEPPER MOTOR DRIVE FOR COMPUTER NUMERICAL CONTROL MACHINES STEPPER MOTOR DRIVE FOR COMPUTER NUMERICAL CONTROL MACHINES Paulo Augusto Sherring da Rocha Junior, Maria Emilia de Lima Tostes Universidade Federal do Pará Centro de Excelência em Eficiência Energética

More information

Brushed DC Motor Microcontroller PWM Speed Control with Optical Encoder and H-Bridge

Brushed DC Motor Microcontroller PWM Speed Control with Optical Encoder and H-Bridge Brushed DC Motor Microcontroller PWM Speed Control with Optical Encoder and H-Bridge L298 Full H-Bridge HEF4071B OR Gate Brushed DC Motor with Optical Encoder & Load Inertia Flyback Diodes Arduino Microcontroller

More information

Motion Control Glossary

Motion Control Glossary This section contains a description of many of the terms used in the design and application of motion control products and programmable devices. Although other reference books and definitions exist, these

More information

AutoBench 1.1. software benchmark data book.

AutoBench 1.1. software benchmark data book. AutoBench 1.1 software benchmark data book Table of Contents Angle to Time Conversion...2 Basic Integer and Floating Point...4 Bit Manipulation...5 Cache Buster...6 CAN Remote Data Request...7 Fast Fourier

More information

Stepper Motors in C. Unipolar (5 lead) stepper motorr. $1.95 from 100 steps per rotation. 24V / 160mA / 600 gm cm holding 160mA

Stepper Motors in C. Unipolar (5 lead) stepper motorr. $1.95 from  100 steps per rotation. 24V / 160mA / 600 gm cm holding 160mA U tepper Motors ugust 22, 2017 tepper Motors in Unipolar (5 lead) stepper motorr. $1.95 from www.mpja.com 100 steps per rotation. 24V / 160m / 600 gm cm holding torque @ 160m stepper motor is a digital

More information

PMSM TECHNOLOGY IN HIGH PERFORMANCE VARIABLE SPEED APPLICATIONS

PMSM TECHNOLOGY IN HIGH PERFORMANCE VARIABLE SPEED APPLICATIONS PMSM TECHNOLOGY IN HIGH PERFORMANCE VARIABLE SPEED APPLICATIONS John Chandler Automotion Inc., an Infranor Inter AG Company Ann Arbor, MI Abstract Many variable speed applications found in industry today

More information

CHAPTER 2 STATE SPACE MODEL OF BLDC MOTOR

CHAPTER 2 STATE SPACE MODEL OF BLDC MOTOR 29 CHAPTER 2 STATE SPACE MODEL OF BLDC MOTOR 2.1 INTRODUCTION Modelling and simulation have been an essential part of control system. The importance of modelling and simulation is increasing with the combination

More information

3.1.Introduction. Synchronous Machines

3.1.Introduction. Synchronous Machines 3.1.Introduction Synchronous Machines A synchronous machine is an ac rotating machine whose speed under steady state condition is proportional to the frequency of the current in its armature. The magnetic

More information

EE-110 Introduction to Engineering & Laboratory Experience Saeid Rahimi, Ph.D. Labs Introduction to Arduino

EE-110 Introduction to Engineering & Laboratory Experience Saeid Rahimi, Ph.D. Labs Introduction to Arduino EE-110 Introduction to Engineering & Laboratory Experience Saeid Rahimi, Ph.D. Labs 10-11 Introduction to Arduino In this lab we will introduce the idea of using a microcontroller as a tool for controlling

More information

DC Motor Speed Control using PID Controllers

DC Motor Speed Control using PID Controllers "EE 616 Electronic System Design Course Project, EE Dept, IIT Bombay, November 2009" DC Motor Speed Control using PID Controllers Nikunj A. Bhagat (08307908) nbhagat@ee.iitb.ac.in, Mahesh Bhaganagare (CEP)

More information

Type of loads Active load torque: - Passive load torque :-

Type of loads Active load torque: - Passive load torque :- Type of loads Active load torque: - Active torques continues to act in the same direction irrespective of the direction of the drive. e.g. gravitational force or deformation in elastic bodies. Passive

More information

Experiment 4.B. Position Control. ECEN 2270 Electronics Design Laboratory 1

Experiment 4.B. Position Control. ECEN 2270 Electronics Design Laboratory 1 Experiment 4.B Position Control Electronics Design Laboratory 1 Procedures 4.B.1 4.B.2 4.B.3 4.B.4 Read Encoder with Arduino Position Control by Counting Encoder Pulses Demo Setup Extra Credit Electronics

More information

SRI SUKHMANI INSTITUTE OF ENGINEERING & TECHNOLOGY DERA BASSI DEPARTMENT: ELECTRONICS & COMM. LABORATORY MANUAL LAB: EMI SUBJECT CODE: SEMESTER: 4th

SRI SUKHMANI INSTITUTE OF ENGINEERING & TECHNOLOGY DERA BASSI DEPARTMENT: ELECTRONICS & COMM. LABORATORY MANUAL LAB: EMI SUBJECT CODE: SEMESTER: 4th SRI SUKHMANI INSTITUTE OF ENGINEERING & TECHNOLOGY DERA BASSI DEPARTMENT: ELECTRONICS & COMM. LABORATORY MANUAL LAB: EMI SUBJECT CODE: SEMESTER: 4th EXPERIMENT NO-1 Aim:- Low Resistance Using Kelvin Double

More information

Application Information

Application Information Application Information Allegro Motor Driving with Angular Sensor IC By Christophe Lutz, Andrea Foletto, Kamyar Khosravi, Masahira Kurihara, Charles Keefer, and Ryan Bradley, Allegro Microsystems France,

More information

White Paper. Even Without Power You can count on it

White Paper. Even Without Power You can count on it Even Without Power You can count on it How To Substantially Reduce Encoder Cost While Gaining Functionality With Multi-Turn Rotary Position Sensors White Paper Many applications require rotation counters

More information

ServoStep technology

ServoStep technology What means "ServoStep" "ServoStep" in Ever Elettronica's strategy resumes seven keypoints for quality and performances in motion control applications: Stepping motors Fast Forward Feed Full Digital Drive

More information

The Mechatronics Sorter Team Members John Valdez Hugo Ramirez Peter Verbiest Quyen Chu

The Mechatronics Sorter Team Members John Valdez Hugo Ramirez Peter Verbiest Quyen Chu The Mechatronics Sorter Team Members John Valdez Hugo Ramirez Peter Verbiest Quyen Chu Professor B.J. Furman Course ME 106 Date 12.9.99 Table of Contents Description Section Title Page - Table of Contents

More information

Design of double loop-locked system for brush-less DC motor based on DSP

Design of double loop-locked system for brush-less DC motor based on DSP International Conference on Advanced Electronic Science and Technology (AEST 2016) Design of double loop-locked system for brush-less DC motor based on DSP Yunhong Zheng 1, a 2, Ziqiang Hua and Li Ma 3

More information

Stepping motor controlling apparatus

Stepping motor controlling apparatus Stepping motor controlling apparatus Ngoc Quy, Le*, and Jae Wook, Jeon** School of Information and Computer Engineering, SungKyunKwan University, 300 Chunchundong, Jangangu, Suwon, Gyeonggi 440746, Korea

More information

Designing With Motion Handbook

Designing With Motion Handbook Designing With Motion Handbook Chapter IV Brush There are many different types of systems that can use manyy different types of motor such as BLDC, Brush, Stepper, Hollow Core, etc. But for this write-up,

More information

POWER FACTOR IMPROVEMENT USING CURRENT SOURCE RECTIFIER WITH BATTERY CHARGING CAPABILITY IN REGENERATIVE MODE OF SRM

POWER FACTOR IMPROVEMENT USING CURRENT SOURCE RECTIFIER WITH BATTERY CHARGING CAPABILITY IN REGENERATIVE MODE OF SRM POWER FACTOR IMPROVEMENT USING CURRENT SOURCE RECTIFIER WITH BATTERY CHARGING CAPABILITY IN REGENERATIVE MODE OF SRM M.Rajesh 1, M.Sunil Kumar 2 1 P.G.Student, 2 Asst.Prof, Dept.of Eee, D.V.R & Dr.H.S

More information