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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 == | ||
Many motors make sparks when the brushes make or break contact. | Many motors make sparks when the brushes make or break contact. | ||
− | This causes lots of electrical noise ("brush noise"). | + | This causes causes lots of electrical noise ("brush noise"). |
Your TV-watching neighbors won't be happy if you allow this noise to leak out. | Your TV-watching neighbors won't be happy if you allow this noise to leak out. | ||
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HydraRaptor: [http://hydraraptor.blogspot.com/2007/09/dc-to-daylight.html "DC to daylight"]. More details: | HydraRaptor: [http://hydraraptor.blogspot.com/2007/09/dc-to-daylight.html "DC to daylight"]. More details: | ||
HydraRaptor: [http://hydraraptor.blogspot.com/2007/10/gm3-motor-suppressor.html "GM3 motor suppressor"] | HydraRaptor: [http://hydraraptor.blogspot.com/2007/10/gm3-motor-suppressor.html "GM3 motor suppressor"] | ||
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== current sense == | == current sense == | ||
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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): | ||
+ | *[http://www.wzmicro.com/ WZMicro]: has many low cost single stepper motor driver, Dual stepper motors controolers, and Microstepping motor driver at affordable price and many [http://www.wzmicro.com/projects.htm/ Stepper Motor DIY projects ]. | ||
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* Avayan Electronics has many bipolar microstepping stepper motor driver boards and DC motor H bridge drive boards (up to 40A continuous). Many (all?) of them are open source. Avayan sells insanely cheap empty PCBs [http://www.avayanelectronics.com/Products/products.html] [http://www.avayanelectronics.com/Buy_NOW_/buy_now_.html]. | * Avayan Electronics has many bipolar microstepping stepper motor driver boards and DC motor H bridge drive boards (up to 40A continuous). Many (all?) of them are open source. Avayan sells insanely cheap empty PCBs [http://www.avayanelectronics.com/Products/products.html] [http://www.avayanelectronics.com/Buy_NOW_/buy_now_.html]. | ||
* [http://www.avrstmd.com/ AVRSTMD]: AVR-Based Microstepping Bipolar Chopper Stepper Motor Driver (STMD). Based on two National Semiconductor LMD18245T 3A, 55V DMOS Full-Bridge Motor driver chips and a Atmel AVR ATMega48. Drives one stepper motor. Optically isolated so you can connect directly to your printer port. Open Source - The schematic, parts list, and software are all freely downloadable. Easily repaired -- removable screw terminals; all parts are through-hole; etc. | * [http://www.avrstmd.com/ AVRSTMD]: AVR-Based Microstepping Bipolar Chopper Stepper Motor Driver (STMD). Based on two National Semiconductor LMD18245T 3A, 55V DMOS Full-Bridge Motor driver chips and a Atmel AVR ATMega48. Drives one stepper motor. Optically isolated so you can connect directly to your printer port. Open Source - The schematic, parts list, and software are all freely downloadable. Easily repaired -- removable screw terminals; all parts are through-hole; etc. | ||
* [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/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] | |
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* [http://groups.yahoo.com/group/GoBox GoBox: a group designing motor driver electronics], a charge controller to optimize getting energy from a variety of energy sources (MTTP solar, wind, water, etc.), and related devices. "The designs and programs are released under a Hardware Open Source License." | * [http://groups.yahoo.com/group/GoBox GoBox: a group designing motor driver electronics], a charge controller to optimize getting energy from a variety of energy sources (MTTP solar, wind, water, etc.), and related devices. "The designs and programs are released under a Hardware Open Source License." | ||
+ | * [http://www.bobblick.com/techref/projects/hbridge/hbridge.html H-Bridge by Bob Blick] | ||
* [http://groups.yahoo.com/group/osmc/ the Open Source Motor Controller Project] | * [http://groups.yahoo.com/group/osmc/ the Open Source Motor Controller Project] | ||
* [http://massmind.org/techref/io/stepper/linistep/ LiniStepper] $30 each; Open Source! Circuit Diagram, PCB (Board) Layout, and PIC Software all available. Nice photos of the LiniStepper at http://www.piclist.com/techref/io/stepper/linistep/lini_bld.htm . | * [http://massmind.org/techref/io/stepper/linistep/ LiniStepper] $30 each; Open Source! Circuit Diagram, PCB (Board) Layout, and PIC Software all available. Nice photos of the LiniStepper at http://www.piclist.com/techref/io/stepper/linistep/lini_bld.htm . | ||
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* [http://www.isl.ee.boun.edu.tr/projects/motordriver/ "Electronic Design of DC Motor Drives"] has detailed schematics and PCB layout for a system that has a PC send commands through the serial port to a Microchip PICmicro, which does PWM control of 2 H bridges. Each half-bridge uses a IRF9530N (100V 14A pfet plus flyback diode) and a IRF530 (IRF530NPBF: 100V 17A nfet plus flyback diode), driven by a small transistor inverter based on a BD135 npn, for a total of 12 discrete transistors. | * [http://www.isl.ee.boun.edu.tr/projects/motordriver/ "Electronic Design of DC Motor Drives"] has detailed schematics and PCB layout for a system that has a PC send commands through the serial port to a Microchip PICmicro, which does PWM control of 2 H bridges. Each half-bridge uses a IRF9530N (100V 14A pfet plus flyback diode) and a IRF530 (IRF530NPBF: 100V 17A nfet plus flyback diode), driven by a small transistor inverter based on a BD135 npn, for a total of 12 discrete transistors. | ||
* [http://openservo.com/ OpenServo wiki] -- developing a digital servo motor that accepts "Go to position X" commands and also more complex curves, and returns actual servo position, speed, voltage and power consumption. | * [http://openservo.com/ OpenServo wiki] -- developing a digital servo motor that accepts "Go to position X" commands and also more complex curves, and returns actual servo position, speed, voltage and power consumption. | ||
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* [http://homepages.which.net/~paul.hills/SpeedControl/Mosfets.html MOSFETs and MOSFET drivers] | * [http://homepages.which.net/~paul.hills/SpeedControl/Mosfets.html MOSFETs and MOSFET drivers] | ||
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* [http://www.ladyada.net/make/mshield/ Motor Shield - Arduino motor/stepper/servo control]: has 2 connections for 5V 'RC' 'hobby' servos; and also 4 H-Bridges: L293D chipset provides 0.6A per bridge (1.2A peak) with thermal shutdown protection, 4.5V to 36V; each L293D can be independently programmed to either drive a unipolar or bipolar stepper motor with full, half, or microstepping -- or else drive two bi-directional DC motors -- so this board can control a maximum of 4 DC motors and 2 RC servomotors. | * [http://www.ladyada.net/make/mshield/ Motor Shield - Arduino motor/stepper/servo control]: has 2 connections for 5V 'RC' 'hobby' servos; and also 4 H-Bridges: L293D chipset provides 0.6A per bridge (1.2A peak) with thermal shutdown protection, 4.5V to 36V; each L293D can be independently programmed to either drive a unipolar or bipolar stepper motor with full, half, or microstepping -- or else drive two bi-directional DC motors -- so this board can control a maximum of 4 DC motors and 2 RC servomotors. | ||
* 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). | ||
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* SparkFun sells [http://www.sparkfun.com/commerce/categories.php?c=179 a long list of motor drivers and servo drivers], including: | * SparkFun sells [http://www.sparkfun.com/commerce/categories.php?c=179 a long list of motor drivers and servo drivers], including: | ||
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* [http://www.nanotec.de/page_product__smc11__en.html Nanotec] sells microstepping stepper motor driver chips (the IMT-901, IMT-902, and IMT-903) and assembled stepper motor driver modules. | * [http://www.nanotec.de/page_product__smc11__en.html Nanotec] sells microstepping stepper motor driver chips (the IMT-901, IMT-902, and IMT-903) and assembled stepper motor driver modules. | ||
** NANOTEC - IMT-901[http://www.newark.com/nanotec/imt-901/ic-motor-driver-stepper-1-5a-sip/dp/17M9708?Ntt=IMT-901]: microstepping constant current stepper motor driver. 1.5 A continuous, 2.5 A peak. Up to 40 V. Selectable full step, 1/2 step, 1/4 step, 1/8 step. Requires 4 external flyback diodes (apparently has the other 4 flyback diodes built in?). | ** NANOTEC - IMT-901[http://www.newark.com/nanotec/imt-901/ic-motor-driver-stepper-1-5a-sip/dp/17M9708?Ntt=IMT-901]: microstepping constant current stepper motor driver. 1.5 A continuous, 2.5 A peak. Up to 40 V. Selectable full step, 1/2 step, 1/4 step, 1/8 step. Requires 4 external flyback diodes (apparently has the other 4 flyback diodes built in?). | ||
+ | * [http://forums.reprap.org/read.php?13,5128 Reprap: Arduino] has a long side-thread on various motor driver chips. | ||
* Ardumoto - Motor Driver Shield[https://www.sparkfun.com/commerce/product_info.php?products_id=9213]: has one L298 dual H-bridge and the 8 necessary Schottky diodes; can drive up to 2 amps per channel. | * Ardumoto - Motor Driver Shield[https://www.sparkfun.com/commerce/product_info.php?products_id=9213]: has one L298 dual H-bridge and the 8 necessary Schottky diodes; can drive up to 2 amps per channel. | ||
* lots of [http://octopart.com/search?q=stepper+motor+driver&c=0&d=0 stepper motor driver chips] | * lots of [http://octopart.com/search?q=stepper+motor+driver&c=0&d=0 stepper motor driver chips] | ||
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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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* [http://www.robotroom.com/Flip-Flop-74HC74-Back-And-Forth-Robot5.html The Flip-Flop Robot] uses the IXDN404 chip as a single-chip H bridge motor driver for 1 small motor. | * [http://www.robotroom.com/Flip-Flop-74HC74-Back-And-Forth-Robot5.html The Flip-Flop Robot] uses the IXDN404 chip as a single-chip H bridge motor driver for 1 small motor. | ||
* [http://www.robotroom.com/Joystick2.html the Joystick controlled robot] uses a FAN8200 motor driver chip as a single-chip H bridge motor driver to drive 2 small motors. | * [http://www.robotroom.com/Joystick2.html the Joystick controlled robot] uses a FAN8200 motor driver chip as a single-chip H bridge motor driver to drive 2 small motors. | ||
+ | * [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. | ||
* [http://techref.massmind.org/techref/io/stepper/linistep Linistepper open source microstepping controller / driver for stepper motors]. Has PMinMO standard connections. | * [http://techref.massmind.org/techref/io/stepper/linistep Linistepper open source microstepping controller / driver for stepper motors]. Has PMinMO standard connections. | ||
* [http://techref.massmind.org/techref/io/motors.htm Massmind: motors] has links to general information about various kinds of motors and motor controllers | * [http://techref.massmind.org/techref/io/motors.htm Massmind: motors] has links to general information about various kinds of motors and motor controllers | ||
* [http://micah.navi.cx/2010/01/diy-sewing-machine-retrofit/ DIY Sewing Machine Retrofit]: Micah mentions "The LMD18200 is an amazingly versatile and robust little chip." -- the LMD18200 has one H bridge (4 MOSFET transistors) on one chip (3A continuous; up to 55V), plus "Thermal warning flag output at 145°C" and "Thermal shutdown (outputs off) at 170°C". ''(is this better, worse, or simply different from the LMD18245T ?)''. | * [http://micah.navi.cx/2010/01/diy-sewing-machine-retrofit/ DIY Sewing Machine Retrofit]: Micah mentions "The LMD18200 is an amazingly versatile and robust little chip." -- the LMD18200 has one H bridge (4 MOSFET transistors) on one chip (3A continuous; up to 55V), plus "Thermal warning flag output at 145°C" and "Thermal shutdown (outputs off) at 170°C". ''(is this better, worse, or simply different from the LMD18245T ?)''. | ||
* Acroname: [http://www.acroname.com/robotics/info/articles/drivers/drivers.html "Driving Loads with High Current"] discusses relays, transistor H bridges, and RC motor controllers, and a few tips for using them. | * Acroname: [http://www.acroname.com/robotics/info/articles/drivers/drivers.html "Driving Loads with High Current"] discusses relays, transistor H bridges, and RC motor controllers, and a few tips for using them. | ||
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[[Category:Projects]] | [[Category:Projects]] |