Motors & Motor Drivers

ECE 450

AC or DC Motors
AC
Few robots use AC except in factories Most of those that use AC first convert to DC

DC
Dominates in robotics Must be bidirectional

DC Motor Types
Continuous-duty
(run continuously when power supplied)

Brushed Brushless Servo

Intermittent-duty
(power must be pulsed to run continuously)

Stepper Motors

Motor Specifications
Operating voltage Current draw Speed Torque Stalling or Running Torque

DC Motor: Brush Motors

The most common. Toys, battery powered tools, electric machines.

Stator (permanent magnets)

Brushes
5

Brush DC Motors
Identify:
Stator Rotor Brushes Communtator

http://mot-sps.com/motor/tutorial/blac.html

Brush DC Motor
How does it work?

Pulse Width Modulation (PWM)

Centered PWM

Brushless DC Motor

Identify:
Permanent Magnets Rotor Brushes Communtator

http://mot-sps.com/motor/tutorial/blac.html

Brushless DC Motor
1. 2. 3. 4. 5. 6. Housing Laminated steel stack Winding Permanent magnet Shaft Ball bearing
5

2 3 4

Less common. Higher efficiency, less friction, less electrical noise. Requires electronic driver.
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Brushless DC Motor
How does it work?

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DC Servo Motor
A DC Servo Motor is a DC Motor with Gears and Electronics with limited angular rotation (typically 90, 180 or 360)

Why the addition of gears? Nylon Karbonite Metal Why electronics? Digital Analog
http://www.societyofrobots.com/actuators_servos.shtml
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DC Servo Motor
1 0 0.00 ms 0.50 ms 1.00 ms 1.50 ms 2.00 ms

1.00 ms: 0 degrees

Requires constant pulsing ( 50 times / second)

1.50 ms: Neutral

0 0.00 ms 1 0 0.00 ms 0.50 ms 1.00 ms 1.50 ms 2.00 ms 0.50 ms 1.00 ms 1.50 ms 2.00 ms

2.00 ms: 180 degrees

http://www.seattlerobotics.org/guide/servos.html
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Stepper Motor
Very common. Required driver. Very strong, when not rotating. Easy to control rotor position.

Full Step

Half Step
http://mot-sps.com/motor/tutorial/blac.html
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Full-Step Stepper Motor

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Half-Step Stepper Motor

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Motor Drivers
Simple, 1- dc motor (brushes), on/off driver
+9 V

M1 DC Brush

D1 1N5817 (Schottky)

Q1 2222A (NPN)
E

R1 1 k

On: to +9 V Off: to GND or disconnected

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Transistors
PNP Bipolar Transistor
C

NPN Bipolar Transistor

C

http://www.kilowattclassroom.com/Archive/AN0007.pdf
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Motor Drivers
Simple, 1-motor, on/off driver

+9 V
E

Q2 2907A (PNP)
C

R2 1 k
B

On:

to GND or disconnected Off: to +9 V

M1 DC Brush

D1 1N5817 (Schottky)

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Motor Drivers
Classic Bipolar H-Bridge
On: Off: to GND or disconnected to +9 V R4 1 k B Q4 2907A (PNP) C On: +9 V +9 V Off: to GND or disconnected to +9 V R2 1 k B C Q2 2907A (PNP)

D4 1N5817 (Schottky)

D2 1N5817 (Schottky)

M
R3 1 k Q3 2222A (NPN) C B D3 1N5817 (Schottky) M1 DC Brush Q1 2222A (NPN) B E R1 1 k

D1 1N5817 (Schottky)

On: Off:

to +9 V to GND or disconnected

On: Off:

to +9 V to GND or disconnected
20

Taken from Intermediate Robot Building by David Cook

Motor Drivers
Classic Bipolar H-Bridge
+9 V

R4 1 k B
from microcontroller

D4 1N5817 (Schottky)

D2 1N5817 (Schottky)

E B C Q2 2907A (PNP)

R2 1 k

1 2

NC

NC

8 7 6 5

Q4 2907A (PNP)

4427

IN A GND IN B

OUT A VDD OUT B

GND from microcontroller

3 4

M
R3 1 k Q3 2222A (NPN) C B D3 1N5817 (Schottky) M1 DC Brush Q1 2222A (NPN) B E R1 1 k

D1 1N5817 (Schottky)

Taken from Intermediate Robot Building by David Cook

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Motor Drivers
Typical H-Bridge Motor Driver
+5 VDC

220 F

0.1 F

Disconnected or from microcontroller From microcontroller

1 2 3

ENABLE A&B

VLOGIC

16 15 14 13 From microcontroller

INPUT A

INPUT C

SN754410

OUTPUT A

OUTPUT C

M1 DC Brush

GND

GND

M
5
OUT B GND

M
GND

12 11 10 9

M2 DC Brush

6 7 8

OUTPUT B

OUTPUT D

from microcontroller +4.5 to +36 VDC

220 F 0.1 F

INPUT B

INPUT D

From microcontroller Disconnected or from microcontroller

VMOTOR

ENABLE C&D

Taken from Intermediate Robot Building by David Cook

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H-Bridge Lab
Components
1. Construct the H-Bridge as shown using components from your Robotics Kit. 2. Identify those configurations that short circuit the H-Bridge and on the enclosed table enter Short Circuit under the Results column 3. Show this table to either the Instructor or the TA before proceeding any further. 4. Using your H-Bridge, determine how the motor performs under each of the 16 different combinations of the four transistors
DO NOT verify the short circuit combinations identified earlier! Pay attention to the transistor numbering in the table compared to the schematic. Be sure to identify whether or not the motor turns clockwise or counterclockwise For any breaking actions, identify which direction the motor is turning when breaking occurs. (In some configurations, breaking only occurs when the motor is turning in one direction but not the other.)

5. Lab Report
To drive larger motors, an H-Bridge with higher capacity currents would be required. Using the components in this lab, determine the component(s) that limit the current for driving a dc motor. Describe your analysis and results in your lab report. Include the table showing your results for the 16 different combinations for powering the HBridge.

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Motor Drivers
Classic Bipolar H-Bridge
On: Off: to GND or disconnected to +9 V R4 1 k B Q4 2907A (PNP) C On: +9 V +9 V Off: to GND or disconnected to +9 V R2 1 k B C Q2 2907A (PNP)

D4 1N5817 (Schottky)

D2 1N5817 (Schottky)

M
R3 1 k Q3 2222A (NPN) C B D3 1N5817 (Schottky) M1 DC Brush Q1 2222A (NPN) B E R1 1 k

D1 1N5817 (Schottky)

On: Off:

to +9 V to GND or disconnected

On: Off:

to +9 V to GND or disconnected
24

Taken from Intermediate Robot Building by David Cook

H-Bridge Test Results

# 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Q4 Off Off Off Off Off Off Off Off On On On On On On On On Q3 Off Off Off Off On On On On Off Off Off Off On On On On Q2 Off Off On On Off Off On On Off Off On On Off Off On On Q1 Off On Off On Off On Off On Off On Off On Off On Off On
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RESULT