Development of Current Controlled Motor Driver for Motion Control

Applications

by

Nyan Lin Mya

A capstone project proposal submitted in partial fulfillment of the requirements for the degree
of Bachelor of Science in Engineering Mechatronic Engineering

Examination Committee: Dr. A. M. Harsha S. Abeykon

Prof. Manukid Panichkun
Dr. Mongkol Ekpanyapong

Nationality: Myanmar

Asian Institute of Technology

School of Engineering and Technology
Thailand
May 2017
 Table of Contents
Chapter Title Page
Title Page i
Table of Contents ii
List of Figures iii
1 Introduction 1
1.1 Background 1
1.2 Problem Statement 3
1.3 Objective 3
1.4 Limitations and Scope 3
2 Literature Review 5
2.1 Background 5
2.2 DC Motor Model 6
2.3 Torque Control 7
2.4 Modeling of Torque Control Loop 8
3 Methodology 10
3.1 Components of Current Controlled Motor Driver 10
3.2 Microprossor 11
3.3 Motor Driver 12
3.4 Current Sense Amplifier 12
3.5 ADC 14
4 Work Plan 16
Reference

ii
 List of Figures
Figure Title Page
1.1 Permanent Magnet DC Motors 1
1.2 Simple Speed Loop 2
1.3 Simple Position Loop 2
1.4 Close Loop Control of the Motor 2
2.1 Simple DC Motor Model 5
2.2 DC Motor Model 7
2.3 Voltage Control Block Diagram 8
2.4 A DC Motor in Current Controller 9
2.5 Representation with Current Reference and Current Respond 9
of a DC motor
3.1 Circuit Block Diagram 10
3.2 TM4C123GH6PM 11
3.3 Current Sensing in an H-bridge 13
3.4 Usage of INA286 14
3.5 ADC161S626 15
4.1 Timeline for the proposed project 16

iii
 List of Tables
Table Title Page
3.1 Comparison of Current Sensing Methods 12
3.2 Comparison of Current Sensing Methods 13

iv