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* DC motor controller ("brushed") | * DC motor controller ("brushed") | ||
* AC motor controller ("brushless") | * AC motor controller ("brushless") | ||
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* ... (todo: fill in the other kinds) ... | * ... (todo: fill in the other kinds) ... | ||
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A DC motor controller that is 'reversible' generally uses an 'H bridge'. This 'H-bridge' uses four output drivers in a configuration that resembles an H where the load is the cross bar in the middle. The lines on either side of the load (the downward strokes in the H) represent a series connection of a pull-up driver and a pull-down driver. This allows each terminal of the load to be connected to either the positive supply rail, or the negative supply rail. This allows a positive, negative or zero voltage difference across the load. This load voltage is then utilized to provide the desired control required of the motor. The various combinations can give a 'forwards' torque on a DC motor, a 'backwards' torque on the same motor, can allow the motor to free-wheel (without any applied torque) or can provide a locking of the motor such that it resists any attempt to rotate it. | A DC motor controller that is 'reversible' generally uses an 'H bridge'. This 'H-bridge' uses four output drivers in a configuration that resembles an H where the load is the cross bar in the middle. The lines on either side of the load (the downward strokes in the H) represent a series connection of a pull-up driver and a pull-down driver. This allows each terminal of the load to be connected to either the positive supply rail, or the negative supply rail. This allows a positive, negative or zero voltage difference across the load. This load voltage is then utilized to provide the desired control required of the motor. The various combinations can give a 'forwards' torque on a DC motor, a 'backwards' torque on the same motor, can allow the motor to free-wheel (without any applied torque) or can provide a locking of the motor such that it resists any attempt to rotate it. | ||
− | A single phase AC motor is generally driven in the same way as a DC motor, however instead of operating the motor drive as a constant DC voltage (in either the 'forward' or 'reverse' direction) the AC motor is driven by an approximation to a sinewave. This approximation is created using the H bridge and driving it with a PWM input | + | A single phase AC motor is generally driven in the same way as a DC motor, however instead of operating the motor drive as a constant DC voltage (in either the 'forward' or 'reverse' direction) the AC motor is driven by an approximation to a sinewave. This approximation is created using the H bridge and driving it with a PWM input such that both the positive and negative voltage periods are the same. This is normally achieved either using a sawtooth waveform compared against a sine wave reference, or is done using a lookup table in a microcontroller. |
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[[Image:pptrans.png | frame | Push Pull Transistor Circuit: one half-bridge. (Fixme: show the flyback diodes, and convert to the more common MOSFET drive transistors ... also replace the resistive "load" with a (M) motor symbol.)]] | [[Image:pptrans.png | frame | Push Pull Transistor Circuit: one half-bridge. (Fixme: show the flyback diodes, and convert to the more common MOSFET drive transistors ... also replace the resistive "load" with a (M) motor symbol.)]] | ||
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((fill in more details here...)) | ((fill in more details here...)) | ||
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== noise control == | == noise control == | ||
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* You want a hardware-enforced blanking time as alluded to earlier. | * You want a hardware-enforced blanking time as alluded to earlier. | ||
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A random collection of semi-related links in no particular order (please prune out the irrelevant ones): | A random collection of semi-related links in no particular order (please prune out the irrelevant ones): | ||
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*[http://www.imagesco.com/articles/picstepper/06.html The UCN 5804 Stepper Motor IC] | *[http://www.imagesco.com/articles/picstepper/06.html The UCN 5804 Stepper Motor IC] | ||
*[http://www.wegatech.com/motor_controller.html Motor controller design]: Custom make motor controller. | *[http://www.wegatech.com/motor_controller.html Motor controller design]: Custom make motor controller. | ||
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* [http://www.robotpower.com/products/osmc_info.html Open Source Motor Control (OSMC)]: The OSMC is a high-power H-bridge circuit designed to control permanent magnet DC motors. It was designed expressly as a motor control for robot combat. Supply voltage: 13V to 50V (36V max battery rating). Output Current (continuous): 160A. Uses 4 MOSFETS (IRFB3207) in each leg of the H bridge, for a total of 16. Bridge Driver: Intersil HIP4081A | * [http://www.robotpower.com/products/osmc_info.html Open Source Motor Control (OSMC)]: The OSMC is a high-power H-bridge circuit designed to control permanent magnet DC motors. It was designed expressly as a motor control for robot combat. Supply voltage: 13V to 50V (36V max battery rating). Output Current (continuous): 160A. Uses 4 MOSFETS (IRFB3207) in each leg of the H bridge, for a total of 16. Bridge Driver: Intersil HIP4081A | ||
* [http://reprap.org/wiki/StepperMotor RepRap: Stepper Motor] lists some stepper motors and stepper motor drivers, including: | * [http://reprap.org/wiki/StepperMotor RepRap: Stepper Motor] lists some stepper motors and stepper motor drivers, including: | ||
− | + | * [http://reprap.org/wiki/Stepper_Motor_Driver_2_3 RepRap stepper motor driver] is based around the Allegro A3982 bipolar Stepper Motor Driver with Translator (up to 35 V and up to ±2 A). Like all the RepRap electronics, it is open-source and available on the [http://sourceforge.net/projects/reprap/files/Electronics/ Sourceforge RepRap project files]. You can buy the fully assembled board from (among other places) [http://store.makerbot.com/electronics/assembled-electronics/stepper-driver-v2-3-fully-assembled.html MakerBot Industries] | |
− | + | * [http://forums.reprap.org/read.php?13,5128 Reprap: Arduino] has a long side-thread on various motor driver chips. | |
− | + | * [http://www.rrrf.org/2009/04/02/kit-available-stepper-motor-driver-v23/ this RepRap Stepper Motor Driver] was developed by the RRRF as an open source stepper driver. If you are interested in manufacturing/selling the boards, please feel free to do so. | |
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* SN754410 quadruple half-bridge driver is pin-compatible with the L293. DIP package. 1 A per bridge continuous (2 A peak) with thermal shutdown protection, 4.5 V to 36 V. Requires external flyback diodes (preferably Schottky). | * SN754410 quadruple half-bridge driver is pin-compatible with the L293. DIP package. 1 A per bridge continuous (2 A peak) with thermal shutdown protection, 4.5 V to 36 V. Requires external flyback diodes (preferably Schottky). | ||
* STMicroelectronics L6506 is designed to work with a L293 or L298 dual bridge drivers to form a constant current drive for the (inductive) stepper motor. This chip senses the current in each load winding (with an external sense resistor); if either winding exceeds the desired current (also programmed with external sense resistors), the L6506 unconditionally turns off that coil. (This chip would presumably fit in-between a microstepping stepper motor controller and the dual bridge chip). | * STMicroelectronics L6506 is designed to work with a L293 or L298 dual bridge drivers to form a constant current drive for the (inductive) stepper motor. This chip senses the current in each load winding (with an external sense resistor); if either winding exceeds the desired current (also programmed with external sense resistors), the L6506 unconditionally turns off that coil. (This chip would presumably fit in-between a microstepping stepper motor controller and the dual bridge chip). | ||
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=== further reading === | === further reading === | ||
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* [http://en.wikibooks.org/wiki/Robotics/Components/Actuation_Devices/Motors Wikibooks: Robotics motors] | * [http://en.wikibooks.org/wiki/Robotics/Components/Actuation_Devices/Motors Wikibooks: Robotics motors] | ||
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* "Stepper Motors and Control: Part III - Current Control of Stepper Motors"[http://www.stepperworld.com/Tutorials/pgCurrentControl.htm] | * "Stepper Motors and Control: Part III - Current Control of Stepper Motors"[http://www.stepperworld.com/Tutorials/pgCurrentControl.htm] | ||
* "you get best microstepping response from motors when the voltage of the power supply is from 1.3 to 5 times the 'nominal' voltage for the motor. Your highest speeds are attained in the range of 3 to 8 times the 'nominal' voltage for the motor."[http://www.stepperboard.com/UCC30xxCurrentRequirements.htm] | * "you get best microstepping response from motors when the voltage of the power supply is from 1.3 to 5 times the 'nominal' voltage for the motor. Your highest speeds are attained in the range of 3 to 8 times the 'nominal' voltage for the motor."[http://www.stepperboard.com/UCC30xxCurrentRequirements.htm] | ||
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[[Category:Projects]] | [[Category:Projects]] |