Editing Motor driver
Jump to navigation
Jump to search
Warning: You are not logged in. Your IP address will be publicly visible if you make any edits. If you log in or create an account, your edits will be attributed to your username, along with other benefits.
The edit can be undone. Please check the comparison below to verify that this is what you want to do, and then save the changes below to finish undoing the edit.
Latest revision | Your text | ||
Line 6: | Line 6: | ||
* DC motor controller ("brushed") | * DC motor controller ("brushed") | ||
* AC motor controller ("brushless") | * AC motor controller ("brushless") | ||
− | |||
* ... (todo: fill in the other kinds) ... | * ... (todo: fill in the other kinds) ... | ||
Line 15: | Line 14: | ||
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. |
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
[[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.)]] | ||
Line 40: | Line 25: | ||
((fill in more details here...)) | ((fill in more details here...)) | ||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
== 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. | ||
Line 69: | Line 39: | ||
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"] | ||
+ | |||
== current sense == | == current sense == | ||
Line 103: | Line 74: | ||
* You want a hardware-enforced blanking time as alluded to earlier. | * You want a hardware-enforced blanking time as alluded to earlier. | ||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
Line 115: | Line 80: | ||
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.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. | + | *[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 ]. |
+ | |||
* 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/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. | |
* [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 . | ||
Line 148: | Line 115: | ||
* 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). | ||
− | |||
Line 218: | Line 184: | ||
=== further reading === | === further reading === | ||
− | |||
− | |||
* [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] | ||
Line 233: | Line 197: | ||
* "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] | ||
− | |||
− | |||
---- | ---- | ||
[[Category:Projects]] | [[Category:Projects]] |