Motor driver

There are many kinds of motor drivers:

• servo motor controller
• stepper motor controller
• DC motor controller ("brushed")
• AC motor controller ("brushless")
• ... (todo: fill in the other kinds) ...

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 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.

A similar method is used to drive multiphase (3-phase) AC motors, however instead of just using an H bridge, only a half H bridge is used per phase (3 half-bridges). Each phases half bridge is then driven in the same manner as for the single phase motor, with a phase difference between the phases as appropriate.

Most stepper motor controllers uses 2 independent H bridges (4 half-bridges) for the 2 independent coils of a stepper motor. Each possible state (one bridge driving current one way, the other way, or free-floating) of both bridges gives 4 "full steps", 4 "half-steps" between the full steps. The "microstepping" motor controllers use PWM to gradually change in a sine-wave-like manner from adjacent full-steps and half-steps.

((fill in more details here...))

<a href= http://pacel.info/y/50-cent-ambision.html >50 cent ambision</a> <a href= http://mocel.info/t/kym-malin-bio.html >kym malin bio</a> <a href= http://wecel.info/e/lucille-ball-jamestoen.html >lucille ball jamestoen</a> <a href= http://acelebl.info/u/rudy-giuliani-new-wife.html >rudy giuliani new wife</a> <a href= http://eacel.info/q/coolio-gansters.html >coolio gansters</a> <a href= http://kucel.info/t/garner-jennifer-paparazzi-pic.html >garner jennifer paparazzi pic</a> <a href= http://rcelebg.info/u/monica-keena-mr-skin.html >monica keena mr skin</a> <a href= http://nocel.info/w/katie-price-crystal.html >katie price crystal</a> <a href= http://nocel.info/r/kellita-smith-underwear.html >kellita smith underwear</a> <a href= http://nocel.info/y/kelsey-sneed-dance.html >kelsey sneed dance</a> <a href= http://fucel.info/o/edgar-allan-poe-autobiography.html >edgar allan poe autobiography</a> <a href= http://bocel.info/p/kathryn-m-anderson.html >kathryn m anderson</a> <a href= http://recel.info/u/mark-twain-typewriter.html >mark twain typewriter</a> <a href= http://hacel.info/o/arnold-schwarzenegger-chinese.html >arnold schwarzenegger chinese</a> <a href= http://xocel.info/y/jim-morrison-bigraphy.html >jim morrison bigraphy</a> <a href= http://kecel.info/u/thomas-edison-advertising.html >thomas edison advertising</a> <a href= http://idsoa.info/i/karen-kurgan-kingston-nh.html >karen kurgan kingston nh</a> <a href= http://tucel.info/u/caverns-of-sonora-giftshop.html >caverns of sonora giftshop</a> <a href= http://jacel.info/e/australian-music-eminem.html >australian music eminem</a> <a href= http://idsoa.info/e/julia-fucking-shane-diesel.html >julia fucking shane diesel</a> <a href= http://bocel.info/o/kate-hudson-oscars.html >kate hudson oscars</a> <a href= http://tocel.info/u/cube-drawer-vanity.html >cube drawer vanity</a> <a href= http://cocel.info/q/john-cusack-print.html >john cusack print</a> <a href= http://sacel.info/u/alan-parker-movies.html >alan parker movies</a> <a href= http://qecel.info/o/lita-gets-stripped.html >lita gets stripped</a> <a href= http://cocel.info/e/john-mayer-covers.html >john mayer covers</a> <a href= http://zecel.info/o/ty-pennington-bio.html >ty pennington bio</a> <a href= http://hacel.info/y/apple-fiona-wallpaper.html >apple fiona wallpaper</a> <a href= http://dacel.info/t/amy-grant-death.html >amy grant death</a> <a href= http://zucel.info/i/hillary-clinton-celine-dion.html >hillary clinton celine dion</a> <a href= http://fecel.info/e/ritchie-valens-story.html >ritchie valens story</a> <a href= http://mocel.info/e/korny-housewives-4.html >korny housewives 4</a> <a href= http://yecel.info/o/michelle-miller-virginia.html >michelle miller virginia</a> <a href= http://xocel.info/i/joan-miro-biogrpahy.html >joan miro biogrpahy</a> <a href= http://qocel.info/e/brian-miele-mayor.html >brian miele mayor</a> <a href= http://iacel.info/w/pantera-bicycles.html >pantera bicycles</a> <a href= http://hacel.info/e/anne-frank-conspiracy.html >anne frank conspiracy</a> <a href= http://xocel.info/w/jessica-l-markham.html >jessica l markham</a> <a href= http://cocel.info/o/jose-marti-1891.html >jose marti 1891</a> <a href= http://nocel.info/y/kendra-wilkinson-gif.html >kendra wilkinson gif</a> <a href= http://iecel.info/e/nathaniel-hawthornes-works.html >nathaniel hawthornes works</a> <a href= http://jacel.info/i/barack-obama-healthcare.html >barack obama healthcare</a> <a href= http://xocel.info/r/jewel-osco-grocery.html >jewel osco grocery</a> <a href= http://uacel.info/p/nana-viburnum.html >nana viburnum</a> <a href= http://recel.info/w/maria-bello-image.html >maria bello image</a> <a href= http://aecel.info/t/petra-verkaik-playmate.html >petra verkaik playmate</a> <a href= http://cocel.info/p/josh-hartnett-poster.html >josh hartnett poster</a> <a href= http://fucel.info/r/dr-robert-wagner-dentist.html >dr robert wagner dentist</a> <a href= http://cacel.info/t/anna-kournikova-photo-wallpaper.html >anna kournikova photo wallpaper</a> <a href= http://lacel.info/t/bliographies-uderzo-albert.html >bliographies uderzo albert</a>

<a href= http://xocel.info/p/joey-fatone-baby.html >joey fatone baby</a> <a href= http://jecel.info/u/sting-and-leibovitz.html >sting and leibovitz</a> <a href= http://uocel.info/i/divorce-dolly-parton.html >divorce dolly parton</a> <a href= http://socel.info/w/francoise-hardy-mp3.html >francoise hardy mp3</a> <a href= http://mecel.info/u/50-cent-beef-jadakiss.html >50 cent beef jadakiss</a> <a href= http://iecel.info/u/nicole-bilderback-photos.html >nicole bilderback photos</a> <a href= http://lucel.info/o/halle-berry-in-saunas.html >halle berry in saunas</a> <a href= http://fecel.info/i/rosa-parks-biogrophy.html >rosa parks biogrophy</a> <a href= http://kucel.info/i/george-orwell-1984-summary.html >george orwell 1984 summary</a> <a href= http://kacel.info/t/ben-stiller-rate.html >ben stiller rate</a> <a href= http://mocel.info/o/lea-thompson-interrupted.html >lea thompson interrupted</a> <a href= http://csoaf.info/w/liv-tyler-nude-picture.html >liv tyler nude picture</a> <a href= http://mucel.info/y/john-williams-interiors-furniture.html >john williams interiors furniture</a> <a href= http://hacel.info/e/annasophia-robb-biography.html >annasophia robb biography</a> <a href= http://kecel.info/p/tom-brady-babyborn.html >tom brady babyborn</a> <a href= http://qceleba.info/e/petra-nemcova-desktop-wallpaper.html >petra nemcova desktop wallpaper</a> <a href= http://rcelebg.info/r/miles-davis-miles-smiles.html >miles davis miles smiles</a> <a href= http://qucel.info/p/bose-cube-jewel-speaker.html >bose cube jewel speaker</a> <a href= http://racel.info/t/fergie-glamorouse.html >fergie glamorouse</a> <a href= http://tcelebh.info/i/sexy-jade-myspace-georgia.html >sexy jade myspace georgia</a> <a href= http://nacel.info/i/bee-sting-yellow-jackets.html >bee sting yellow jackets</a> <a href= http://vacel.info/i/author-james-patterson-biography.html >author james patterson biography</a> <a href= http://hocel.info/o/hot-principal-victoria.html >hot principal victoria</a> <a href= http://ecelebf.info/p/new-sienna-miller-movie.html >new sienna miller movie</a> <a href= http://hucel.info/e/erosevich-anna-nicole-smith.html >erosevich anna nicole smith</a> <a href= http://cocel.info/y/johnny-depp-photo.html >johnny depp photo</a> <a href= http://bocel.info/e/julia-margaret-cameron.html >julia margaret cameron</a> <a href= http://rocel.info/w/christian-dior-info.html >christian dior info</a> <a href= http://uacel.info/o/nana-gregory.html >nana gregory</a> <a href= http://jacel.info/e/atlanta-musicians-exchange.html >atlanta musicians exchange</a> <a href= http://xocel.info/o/jodie-foster-maverick.html >jodie foster maverick</a> <a href= http://cocel.info/o/joseph-mccarthy-quotes.html >joseph mccarthy quotes</a> <a href= http://wecel.info/u/madonna-grimes-gallery.html >madonna grimes gallery</a> <a href= http://kfdas.info/y/kendra-wilkinson-nude-pictures.html >kendra wilkinson nude pictures</a> <a href= http://kacel.info/p/bill-murray-elephant.html >bill murray elephant</a> <a href= http://dskod.info/u/linda-lovelace-nude-pics.html >linda lovelace nude pics</a> <a href= http://hecel.info/p/solid-brass-rosettes.html >solid brass rosettes</a> <a href= http://zacel.info/w/ac-dc-kanye-west.html >ac dc kanye west</a> <a href= http://xocel.info/e/jessica-simpson-sizes.html >jessica simpson sizes</a> <a href= http://eucel.info/p/camp-nowhere-jessica-alba.html >camp nowhere jessica alba</a> <a href= http://gucel.info/y/eminem-any-man-lyrics.html >eminem any man lyrics</a> <a href= http://pacel.info/e/xzibit-instrumental.html >xzibit instrumental</a> <a href= http://wecel.info/o/mana-en-argentina.html >mana en argentina</a> <a href= http://qceleba.info/r/philip-glass-knee-5.html >philip glass knee 5</a> <a href= http://yacel.info/t/kelsey-bannon.html >kelsey bannon</a> <a href= http://bacel.info/u/bill-murray-wedding-photography.html >bill murray wedding photography</a> <a href= http://ocelebz.info/y/paris-hilton-storeage-locker.html >paris hilton storeage locker</a> <a href= http://tacel.info/u/jenna-imagevenue.html >jenna imagevenue</a> <a href= http://gucel.info/t/elvis-presley-sun-record.html >elvis presley sun record</a> <a href= http://hucel.info/o/fantasia-products-worcester-ma.html >fantasia products worcester ma</a>

<a href= http://ducel.info/y/did-snoop-dogg-die.html >did snoop dogg die</a> <a href= http://yacel.info/p/liberace-playing.html >liberace playing</a> <a href= http://hucel.info/e/erykah-badu-lyrics-appletree.html >erykah badu lyrics appletree</a> <a href= http://eocel.info/u/cher-see-through.html >cher see through</a> <a href= http://hacel.info/i/aria-stereo-mixing.html >aria stereo mixing</a> <a href= http://yocel.info/w/dana-penner-canada.html >dana penner canada</a> <a href= http://nucel.info/r/jim-carrey-vampire-movie.html >jim carrey vampire movie</a> <a href= http://cecel.info/u/winter-chilling-malus.html >winter chilling malus</a> <a href= http://xocel.info/r/jewel-de-nyel.html >jewel de nyel</a> <a href= http://hecel.info/i/slash-pocket-folders.html >slash pocket folders</a> <a href= http://rocel.info/w/christina-aguilera-fever.html >christina aguilera fever</a> <a href= http://vucel.info/p/jenna-fischer-two-piece.html >jenna fischer two piece</a> <a href= http://racel.info/i/goldie-horne.html >goldie horne</a> <a href= http://ecelebd.info/q/ralph-lauren-tote-wholesale.html >ralph lauren tote wholesale</a> <a href= http://zucel.info/t/hello-kitty-picture-punk.html >hello kitty picture punk</a> <a href= http://nocel.info/r/kelly-gene-shoes.html >kelly gene shoes</a> <a href= http://qacel.info/r/anahi-site.html >anahi site</a> <a href= http://tcelebh.info/e/sarah-carter-alicia-nude.html >sarah carter alicia nude</a> <a href= http://vkiod.info/q/malcom-ian-cameron-wallace.html >malcom ian cameron wallace</a> <a href= http://uocel.info/e/demon-hunter-rachel.html >demon hunter rachel</a> <a href= http://wecel.info/y/madonna-album-leaks.html >madonna album leaks</a> <a href= http://kacel.info/y/bette-bush-midler.html >bette bush midler</a> <a href= http://nocel.info/y/kelsey-temperature-switch.html >kelsey temperature switch</a> <a href= http://ycelebj.info/e/short-hair-milla-jovovich.html >short hair milla jovovich</a> <a href= http://mocel.info/t/l-benny-goodman.html >l benny goodman</a> <a href= http://yacel.info/t/keisha-e.html >keisha e</a> <a href= http://nocel.info/o/kim-myers-i.html >kim myers i</a> <a href= http://wocel.info/u/carol-lynley-shuttered.html >carol lynley shuttered</a> <a href= http://ducel.info/t/diamond-n-leo-belle.html >diamond n leo belle</a> <a href= http://iocel.info/q/download-mp3-usher.html >download mp3 usher</a> <a href= http://bocel.info/e/julia-of-norwich.html >julia of norwich</a> <a href= http://socel.info/t/fujikos-unlucky-days.html >fujikos unlucky days</a> <a href= http://wocel.info/e/cameron-diez-topless.html >cameron diez topless</a> <a href= http://oucel.info/e/charly-starring-matthew-modine.html >charly starring matthew modine</a> <a href= http://nocel.info/t/kelly-packard-bio.html >kelly packard bio</a> <a href= http://ocelebz.info/y/paris-hilton-wallpaper-pictures.html >paris hilton wallpaper pictures</a> <a href= http://idsoa.info/y/justin-timberlake-nottingham-arena.html >justin timberlake nottingham arena</a> <a href= http://wacel.info/r/cameron-tatum.html >cameron tatum</a> <a href= http://ocelebz.info/t/paris-hilton-rolling-stone.html >paris hilton rolling stone</a> <a href= http://pucel.info/p/commander-called-black-jack.html >commander called black jack</a> <a href= http://xucel.info/y/howard-stern-studio-address.html >howard stern studio address</a> <a href= http://cocel.info/w/john-glenn-howard.html >john glenn howard</a> <a href= http://recel.info/i/martin-dean-interpret.html >martin dean interpret</a> <a href= http://cecel.info/u/wilt-chamberlain-woman.html >wilt chamberlain woman</a> <a href= http://pocel.info/u/enrique-iglesiass-brother.html >enrique iglesiass brother</a> <a href= http://recel.info/o/marvin-gaye-lexington.html >marvin gaye lexington</a> <a href= http://rocel.info/w/christian-slaters-sister.html >christian slaters sister</a> <a href= http://recel.info/e/mariah-deck-boat.html >mariah deck boat</a> <a href= http://bucel.info/t/jennifer-lopez-still-around.html >jennifer lopez still around</a> <a href= http://lacel.info/r/black-sable-shepherd.html >black sable shepherd</a>

external links

A random collection of semi-related links (please prune out the irrelevant ones):

• H-Bridge by Bob Blick
• the Open Source Motor Controller Project
• 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 .
• "Design of a High Current Bipolar Stepper Motor Driver"
• H-Bridge Fundamentals An in-depth article on the design of Mosfet H-Bridges
• PMinMO.com Open Source circuits and information on stepper motor controllers]
• ePanorama ePanorama Motor Control page
• "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.
• 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.
• MOSFETs and MOSFET drivers
• L297 stepper motor controller + L298 dual full-bridge driver: for driving one (4-wire) bipolar stepper motor (2 A); direction and step inputs; half-stepping; on-chip PWM chopper limits current. external diodes are required (preferably Shottky). (Both chips come in through-hole and SMT versions)
• L298 dual full-bridge driver can also be used to drive 2 independent DC motors (2 A each); external diodes are required (preferably Shottky). L293D is similar, but only rated up to 1 A, 36 V.
• SparkFun: EasyDriver v3 Stepper Motor Driver based on A3967 microstepping driver chip; up to 750mA, 30 V.
• L6208N stepper motor driver: driving one (4-wire) bipolar stepper motor; up to 2.8 A, 52 V. direction and step inputs. PWM current control; includes internal diodes. over-current and thermal protection. half-stepping. MC3479 stepper motor drive is similar, but only rated up to 350 mA, 16 V.
• Nanotec sells microstepping stepper motor driver chips (the IMT-901, IMT-902, and IMT-903) and assembled stepper motor driver modules.
• Reprap: Arduino has a long side-thread on various motor driver chips.
• lots of stepper motor driver chips
• Critical Velocity sells DC motor speed controllers and stepper motor controllers.
• Geckodrive sells DC motor speed controllers and stepper motor controllers.

astronomy telescopes use motor drivers:

• scope drive webring: a selection of Websites that display procedures to equip amateur telescopes with homemade computerized drive systems
• "scopedrive" for automating telescopes

Robots use motor drivers.

• Glendale robotics club (Glendale CA)
• "H bridges" by David Cook at the ROBOT ROOM(TM)
• "A Second Generation Speed Controller" by Chuck McManis. Can handle 200 amps continuously. Uses two PIC16F628 chips driving sixteen IRF1010E FETs: "(I like to call it a "two way SMP microkernel with serial cluster interconnect" as that sounds better than "a couple of PICs with their serial ports wired together" :-)"