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Pulse Width Modulation (or PWM) is a popular and efficient method for driving DC
motors because we can control the motors with significantly fewer power losses than
continuous linear regulation.
Using PWM enables control of the current in the windings and in turn the output torque,
as the torque is proportional to average winding current. It follows that current will be
proportional to PWM because of the torques linear response.
In a circuit, resistive loads will have a current that is proportional to PWM. However DC
motors are more complex than resistive loads, they contain an inductance and when
rotating they produce back EMF.
These factors usually mean PWM control isnt strictly linear, the PWM frequency (not
just the duty cycle) is actually quite significant for output parameters.
R
t
L
V R ( t )=V (1e )
The voltage across the inductor tends towards 0 as time passes, while the voltage across
the resistor tends towards V. This is in keeping with the intuitive point that the inductor
will only have a voltage across as long as the current in the circuit is changing as the
circuit reaches its steady-state, there is no further current change and ultimately no
inductor voltage.
L
All series RL circuit have a time constant, usually denoted = R , which is the time it
1
takes the voltage across the component to reach e of its final value. V L will rest at
0V, so is the time it takes for V L =V e ( 1 ) . Similarly VR will rest at input voltage
1
V, so is the time takes for V =V (1 ) .
R
e
When a voltage is applied to the circuit the inductance of L slows down the rate at which
the current rises. This happens because the inductor produces a back EMF which resists
the current flowing through it. This prevents the current (and hence the voltage across the
resistor) from rising or falling much faster than the time-constant of the circuit.
As a result, when the power supply is switched on, the current does not instantaneously
V
reach its steady-state value, R . The rise instead takes several time-constants to
complete.
Current in RL Circuit
When using PWM for DC motor control this situation repeats on every period of PWM. If
the load is only resistive, the PWM frequency has no effect, but in this RL circuit the
current rise is limited by inductance.
Therefore PWM signals using higher frequencies give less time for the current to rise.
Motor current at two different PWM frequencies, both 50% duty
This means to simulate a linear response, the on pulse time for the PWM should be
L
greater than 5 , i.e. 5 R .
For example, if our motor has a time constant =10 s , the minimum pulse width
should be longer than 50 s .
If our minimal usable PWM duty cycle is 5%, then we should pick a frequency to ensure
it is longer than 50 s . This gives a minimal PWM period of 20 50 s=1ms . A
period 1ms means our maximum frequency for linear response is 1 kHz, any lower and at
low duty cycles the current does not have enough time to reach close to its steady state
value.
Calculations For Precision Microdrives 110-003 Motor
Lets try to calculate maximum PWM frequency which gives a linear torque response with
1% PWM resolution. For this example we are using the 110-003 Micro Core DC motor,
you can find its technical details in the datasheet (downloadable from the product page).
Rated voltage = 1.5V
Resistance = 3.4
Inductance = 19 H
Time constant for this motor is:
L
=
R
0.000019 H
= =0.0000056 s=5.6 s
3.4
With a minimum PWM resolution of 1%, the minimum pulse width is:
28 s 100=2800 s
PWM duty Current for 31.25kHz Current for 2kHz Current for 200Hz
[%] [mA] [mA] [mA]
0 0 0 0
10 18.8 35 37.6
15 30.7 54 56.4
25 59 92.8 93.4