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Abstract
In this paper, it's proposed new control method for dc motor using PWM method, which is used to control the
speed as well as angle of the motor. The dc motor can be stopped either in braking mode or in free run mode.
The drive system has been designed and implemented for autonomous robot, where the power efficiency is the
basic requirement.
The drive system has been simulated and results have been compared with those obtained by a conventional
semiconductor PWM controller. The superior results in the drive power efficiency, which are achieved by new
design, are provided.
1. Introduction
Physical motion of some form differentiates a robot from a computer. It would be nice if a motor could
be attached directly to a chip that controlled the movement. But, most chips can't pass enough current or voltage
to spin a motor. Also, motors tend to be electrically noisy (spikes) and can slam power back into the control lines
when the motor direction or speed is changed.
An autonomous robot with DC motor requires a control circuitry known as motor controller. A motor controller
is a device or group of devices that serves to govern in some predetermined manner the performance of an
electric motor. A motor controller might include a manual or automatic means for starting and stopping the
motor, selecting forward or reverse rotation, selecting and regulating the speed, regulating or limiting the torque,
and protecting against overloads and faults.
DC motors are typically controlled by using a transistor configuration called an "H-bridge"[2]. This consists of a
minimum of four solid-state switches, such as two NPN/NFET and two PNP/PFET transistors or single h-bridge
controller IC, as shown in figure1.
One NPN and one PNP transistor are activated at a time as shown in figure 2. Both NPN or PNP transistors can
be activated to cause a short across the motor terminals, which can be useful for slowing down/braking the
motor from the back EMF it creates.
An independent supply is needed to drive an autonomous robot, so it is required to use motor control circuitry
which does not consume a lot of battery power and and provides a maximum voltage across the motor. The
present moter controller dissipates a lot of power and also unable to provide sufficient voltage across the motor,
because of its own internal voltage drop. So it affects the motor performance. We are proposing a new
controlling technique which increases the overall performance of the motor for our application.
Section 2 gives the working principle of the present motor controller methods , section 3 states the proposed
motor control method, And we have concluded on the different method in the section 4.
2. Background
A very popular circuit for driving DC motors (ordinary or geared) is called an H-bridge [2]. It's called that
because it looks like the capital letter 'H' on classic schematics. The great ability of an H-bridge circuit is that the
motor can be driven forward or backward at any speed, as well as in active braking mode.
An H-bridge design can be really simple for prototyping or really extravagant for added protection and isolation
[2]. An H-bridge can be implemented with various kinds of components (common bipolar transistors, FET
transistors, MOSFET transistors, power MOSFETs, or even chips).
Figure 3: Conventional H-Bridge Circuit using n-channel and p-channel Power MOSFET with Speed and
Direction control
Table 1: Operation of conventional method
A
0
1
1
0
X
B
0
1
0
1
x
C
0
0
0
0
1
Output
N Channel Brake
P Channel Brake
Forward
Reverse
Motor off
Table 1 shows various outputs for different combinations of inputs. For example if input A is 1 and
input B and C are 0 then the motor will move in clock-wise direction. Pulses are given at input C for controlling
the speed of motor.
The drawbacks of above conventional method are as follows
In autonomous robots low voltage source is unable to drive the motor in full speed because of
unwanted drop across the three semiconductor devices in series.
As autonomous robots are being driven by battery, so one cannot afford unwanted power losses across
other components. But in above method the power loss is Power= i2*(Rdsp + Rdsn + Rdsn)
--1
Where Rdsp and Rdsn are internal resistance of p-channel and n-channel MOSFETs
As more components are used in controller circuit hence it is more expensive.especially for higher
current applications.
3. Proposed Method
As in autonomous robots we normally use battery as a power supply, so we need such kind of circuit which
should dissipate less amount of power [1]. We are proposing a method which is the hybrid of electronic and
mechanical components.
Figure 4 Proposed Circuit
As in the case of robotics application rapid direction change is not required so we have replaced four
MOSFETs with only two relays, thus not only we have improved in the voltage drop across MOSFETs, as well
as we have reduced the cost of circuit.
Table 2 : Operation of proposed method
Input A
1
0
0
1
X
Input B
0
1
0
1
X
Input C
0
0
0
0
1
Output D
1
0
0
0
1
Output E
0
1
0
0
Floating
Remark
Forward motion
Reverse motion
Breaking
Breaking
Motor off
Table2 shows the operation of proposed method, for example when A is high, B and C are low, then the
motor moves in clockwise direction and so on. We have also taken care of forbidden input conditions in
proposed design. For achiving speed control we have applied PWM signal at input C.
Conventional(RPM)
11850
11300
10612
9960
Proposed (RPM)
14040
13590
12990
12495
10
9.5
9
8.5
8
9248
8658
----
11829
11295
10590
9945
9240
Table 3 shows the experimental result which clearly shows the improvement in the speed in proposed
method. In proposed method the power loss is given by-Power= i2*( Rdsn)
--2
As from above equation, power loss depends on only one component which is nMOSFET resistance Rdsn ,,
hence, power loss is greatly reduced as compare to conventional method.
4. Conclusion:
Power savings in autonomous robot is the active area of research in IT industry. So we have proposed
a method which is more suitable for autonomous robotic applications in terms of voltage drop across
components and power dissipation. Experimental results also confirms the same.but there are some kind of tradeoff of our method
The life of mechanical component used have small life span as compared to the semiconductor devices.
Reference:
[1] A robust lateral power MOSFET buffered H-bridge motor driver power IC, Shekar, M.S.; Williams, R.K.;
Darwish, M.; Lee, R.;Power Semiconductor Devices and IC's, 1997. ISPSD '97., 1997 IEEE International
Symposium on 26-29 May 1997 Page(s):197 200
[2] A new cascaded multilevel H-bridge drive, Corzine, K.; Familiant, Y.; Power Electronics, IEEE Transactions
on Volume 17, Issue 1, Jan. 2002 Page(s):125 - 131