Beruflich Dokumente
Kultur Dokumente
HEF4071B Flyback
OR Gate Diodes
Arduino Arduino
Microcontroller Microcontroller
for for
Encoder Decoding Speed Control
& Velocity Output Implementation
Brushed DC Motor / Encoder System A. da Silva & K. Craig 1
Brushed DC Motor / Encoder System A. da Silva & K. Craig 2
Brushed DC Motor / Encoder System A. da Silva & K. Craig 3
Brushed DC Motor / Encoder System A. da Silva & K. Craig 4
Pittman DC Servo Motor
8322S001
Brushed DC Motor / Encoder System A. da Silva & K. Craig 5
Pittman DC Servo Motor
8322S001
Schematic
Brushed DC Motor
Brushed DC Motor / Encoder System A. da Silva & K. Craig 10
For a permanent-magnet
DC motor if = constant.
Physical Modeling
Tm Kt im Vb Kb
Pout Tm K t im Pin Vb im Kb im
P K
out t
P K
in b
Vin VR VL Vb 0
Tm TB TJ 0
KVL
iR iL im i Newtons Law
V di J d B Kti 0
in Ri L dt Kb
0 dt
Kt 0
d B
J J
dt Vin
R i 1
di K L
b L L
dt
Brushed DC Motor / Encoder System A. da Silva & K. Craig 16
Steady-State Conditions
di 0
V Ri L K
in b
dt
V
T
in R Kb 0
Kt
K K K
T t V t b
R in R
Ts Kt V Stall Torque
R in
V No-Load Speed
0 in
Kb
Brushed DC Motor / Encoder System A. da Silva & K. Craig 17
Transfer Functions
di 0 Jd B K i 0
V Ri L K
in b t
dt dt
Vin s (Ls R)I(s) Kb (s) 0 Js B (s) Kt I(s) 0
(s) Kt Kt
J L JL JL
V Tm
in 1 i Kt 1
Ls R Js B
Kb
B R
t
V Ri K 0 Jd B K i 0
in b dt
d 1 Kt
J B K t i Kt Vin Kb Vin Kb
dt R R
KK K
d t b B t V
in
dt RJ J RJ
d 1 1 Kt V
in
dt motor m RJ
d 1 Kt V since
m motor
in
dt motor RJ
Brushed DC Motor / Encoder System A. da Silva & K. Craig 20
Brushed DC Motor / Encoder System A. da Silva & K. Craig 21
Brushed DC Motor / Encoder System A. da Silva & K. Craig 22
Brushed DC Motor / Encoder System A. da Silva & K. Craig 23
Brushed DC Motor / Encoder System A. da Silva & K. Craig 24
Brushed DC Motor / Encoder System A. da Silva & K. Craig 25
Brushed DC Motor / Encoder System A. da Silva & K. Craig 26
Brushed DC Motor / Encoder System A. da Silva & K. Craig 27
Brushed DC Motor / Encoder System A. da Silva & K. Craig 28
MatLab M-File
DeadBand Product
Analog to 8 bits PWM REV Direction
Torque Command
10
0
-10
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
6
PWM FWD Direction
0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
00
6
PWM REV Direction
0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
00
Time (sec)
PID Controller
Saturation
12V to -12V H-Bridge Control
10 Velocity
Offset
Feedback
(rev/sec) SampleTime = 0.020 seconds for
Velocity data monitoring
In1
In2
Since the serial Use the "Serial Configuration" block to make sure that the used serial port is the one to which the arduino is
connected.
port only reads
A value coming from analog "In1" will also be received and displayed.
integers, this
gain adds a COM19
decimal point to 9600
Display 8,none,1
the readings. But Serial Configuration
the signal will be
10 times the COM19 Data Launch
target side
actual value. Serial Receive Scope