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Motor Drive and PWM Techniques
Eng:Mohamed Loay Ali
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Contents DC Motor
1. Introduction to DC motor and its parameters. 2. PWM 8 bits modes (Fast PWM &Phase Correct).3. PWM 16 bits modes (Fast PWM & Phase Correct).4. Speed Control of DC motor.
Stepper motor.1. Stepper motor basics.2. Main Components of Stepper motor.3. Types of Stepping Motors4. Unipolar and Bipolar Stepper Motors5. Driving Stepper motor.
Eng:Mohamed Loay Ali
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DC motor1. Introduction to DC motor and its parameters.
A direct current motor one of the most widely used motors. By connecting the motor terminal to dc source it rotates in one direction,
and by reversing the polarity it rotates to the opposite direction. The maximum speed of a dc motor is indicated with the rpm and is
given in the data sheet. The dc motor control can be unidirectional or bidirectional as shown in
the following figure
Eng:Mohamed Loay Ali
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DC motor1. Introduction to DC motor and its parameters.
The speed of the motor depends on three factors1) Load.2) Voltage.3) Current. The rpm of the motor can be controlled by varying the voltage
terminals. For a given fixed load a steady speed can be maintained by using
Pulse width modulation (PWM) to change the voltage across the DC terminals.
Although the PWM has a fixed amplitude, it has a variable duty cycle. That means the wider pulse the wider the higher the speed.
By varying the duty cycle the power fed to the motor speed is changing as shown in the following
Eng:Mohamed Loay Ali
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DC motor1. Introduction to DC motor and its parameters.
Eng:Mohamed Loay Ali
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DC motor1. Introduction to DC motor and its parameters.
Eng:Mohamed Loay Ali
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DC motor1. Introduction to DC motor and its parameters.
Eng:Mohamed Loay Ali
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DC motorPWM 8 bits modes : Fast PWM
Eng:Mohamed Loay Ali
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DC motorPWM 8 bits modes : Fast PWM
Eng:Mohamed Loay Ali
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DC motorPWM 8 bits modes : Fast PWM
Eng:Mohamed Loay Ali
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DC motorPWM 8 bits modes : Fast PWM
Eng:Mohamed Loay Ali
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DC motorPWM 8 bits modes : Fast PWM
Eng:Mohamed Loay Ali
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DC motorPWM 8 bits modes : Fast PWM
Eng:Mohamed Loay Ali
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DC motorPWM 8 bits modes : Fast PWM
Eng:Mohamed Loay Ali
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DC motorPWM 8 bits modes : Fast PWM
Eng:Mohamed Loay Ali
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DC motorPWM 8 bits modes : Fast PWM The counter counts up like it does in the normal mode. It counts up until it reaches its maximum value 0xFF. Then it rolls over to from 0xFF to 0x00 ,it set the TOV The fast PWM differs from the other PWM option by its single-slope operation. In non-inverting Compare Output mode, the Output Compare (OC0x) is cleared
on the compare match between TCNT0 and OCR0x, and set at BOTTOM. In inverting Compare Output mode, the output is set on compare match and
cleared at BOTTOM.
Eng:Mohamed Loay Ali
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DC motorPWM 8 bits modes :PWM 8 bits modes : Fast PWM
Eng:Mohamed Loay Ali
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DC motor
For non-Inverted mode
For Inverted mode
PWM 8 bits modes : Fast PWM
Eng:Mohamed Loay Ali
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DC motorPWM 8 bits modes : Fast PWM
Eng:Mohamed Loay Ali
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DC motorPWM 8 bits modes : Phase Correct The phase correct PWM mode (WGM02:0 = 1 or 5) provides a high resolution. The counter counts repeatedly from BOTTOM to TOP and then from TOP to
BOTTOM. TOP is defined as 0xFF when WGM2:0 = 1and OCR0A when WGM2:0 = 5
In non-inverting Compare Output mode, the Output Compare (OC0x) is cleared on the com-pare match between TCNT0 and OCR0x while up counting, and set on the compare match while down counting.
In inverting Output Compare mode, the operation is inverted. The dual-slope operation has lower maximum operation frequency than single slope operation
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DC motorDC motorPWM 8 bits modes : Phase Correct
Eng:Mohamed Loay Ali
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DC motorPWM 8 bits modes : Phase Correct
For non-Inverted mode
For Inverted mode
Eng:Mohamed Loay Ali
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DC motorPWM 8 bits modes : Phase Correct
Eng:Mohamed Loay Ali
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DC motor PWM 16 bits modes (Fast PWM & Phase Correct). Speed Control of DC motor.
DO IT Yourself
Eng:Mohamed Loay Ali
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Stepper Motor1. Stepper motor basics.
Stepper Motor are motors that moves one step at a time. A digital version of an electric motor Each step is defined by a Step Angle
Eng:Mohamed Loay Ali
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Stepper Motor1. Stepper motor basics.
Relatively inexpensive Ideal for open loop positioning control Can be implemented without feedback Minimizes sensing devices Just count the steps!
Torque Holds its position firmly when not turning Eliminates mechanical brakes Produces better torque than DC motors at lower speeds
Positioning applications
Eng:Mohamed Loay Ali
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Stepper Motor2.Main Components of Stepper motor.
Consists of 1.Stator:Holds multiplewindings/phases
Eng:Mohamed Loay Ali
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Stepper Motor2.Main Components of Stepper motor.
Consists of 2.Rotor:Magnetizedor non-magntized
Eng:Mohamed Loay Ali
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Stepper Motor2.Main Components of Stepper motor.
Voltage applied to winding initiates current flow Magnetic flux begins to flow
Eng:Mohamed Loay Ali
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Stepper Motor2.Main Components of Stepper motor.
Rotor rotates to minimize flux path (or reluctance)
Eng:Mohamed Loay Ali
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Stepper Motor3.Types of Stepping Motors
Permanent MagnetMagnetic rotor
Variable ReluctanceNon-magnetic, geared rotor
HybridCombines characteristics from PM and VRMagnetic, geared rotor
Eng:Mohamed Loay Ali
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Stepper Motor3.Types of Stepping Motors
Permanent Magnet
Eng:Mohamed Loay Ali
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Stepper Motor3.Types of Stepping Motors
Variable ReluctanceNon-magnetic, geared rotor
Eng:Mohamed Loay Ali
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Stepper Motor3.Types of Stepping Motors
HybridCombines characteristics from PM and VR Magnetic, geared rotor
Eng:Mohamed Loay Ali
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Stepper Motor3.Types of Stepping Motors
Eng:Mohamed Loay Ali
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4.Unipolar and Bipolar Stepper Motors
Stepper Motor
Leads on each coil can be brought out in two ways:−Each lead taken separately−Bi-directional current flow through entire winding
Eng:Mohamed Loay Ali
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4.Unipolar and Bipolar Stepper Motors
Stepper Motor
A center tap added between the two leads−Unidirectional current flow in each ½ of windingUnipolar
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5.Driving Stepper motor(Bipolar Full Step).
Stepper Motor
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar Full Step).
Stepper Motor
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar Full Step).
Stepper Motor
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar Full Step).
Stepper Motor
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar Full Step).
Stepper Motor
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar Full Step).
Stepper Motor
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar Full Step).
Stepper Motor
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar Full Step).
Stepper Motor
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar Full Step two phase on).
Stepper Motor
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar Full Step two phase on).
Stepper Motor
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar Full Step two phase on).
Stepper Motor
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar Full Step two phase on).
Stepper Motor
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar Full Step two phase on).
Stepper Motor
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar Full Step two phase on).
Stepper Motor
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar Full Step two phase on).
Stepper Motor
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar Full Step two phase on).
Stepper Motor
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar Full Step two phase on).
Stepper Motor
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar half Step).
Stepper Motor
Combines “One Phase On” and “Two Phase On” algorithms
Improves rotational resolution Minimizes anti-resonance
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar half Step).
Stepper Motor
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar half Step).
Stepper Motor
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar half Step).
Stepper Motor
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar half Step).
Stepper Motor
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar half Step).
Stepper Motor
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar half Step).
Stepper Motor
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar half Step).
Stepper Motor
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar half Step).
Stepper Motor
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar half Step).
Stepper Motor
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar half Step).
Stepper Motor
Eng:Mohamed Loay Ali
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5.Driving Stepper motor(Bipolar half Step).
Stepper Motor
Eng:Mohamed Loay Ali
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Stepper Motor5.Driving Stepper motor(Unipolar half Step).
Center Tap connected to Ground or Voltage Source. Current flows in ½winding at a time.
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Stepper Motor5.Driving Stepper motor(Unipolar).
Eng:Mohamed Loay Ali
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Stepper Motor5.Driving Stepper motor(Unipolar).
Eng:Mohamed Loay Ali
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Stepper Motor5.Driving Stepper motor(Unipolar).
Eng:Mohamed Loay Ali
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Stepper Motor5.Driving Stepper motor(Unipolar).
Eng:Mohamed Loay Ali
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Stepper Motor5.Driving Stepper motor(Unipolar half Step).
Eng:Mohamed Loay Ali
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Stepper Motor5.Driving Stepper motor(Unipolar half Step).
Eng:Mohamed Loay Ali
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Stepper Motor5.Driving Stepper motor(Bipolar Drive Circuit).
Eng:Mohamed Loay Ali
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Stepper Motor5.Driving Stepper motor(Bipolar Drive Circuit).
Eng:Mohamed Loay Ali
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Stepper Motor5.Driving Stepper motor(Bipolar Drive Circuit).
Eng:Mohamed Loay Ali
76
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Stepper Motor5.Driving Stepper motor(Bipolar Drive Circuit).
Eng:Mohamed Loay Ali
77
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Stepper Motor5.Driving Stepper motor(Bipolar Drive Circuit).
Eng:Mohamed Loay Ali
78
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Stepper Motor5.Driving Stepper motor(Bipolar Drive Circuit).
Eng:Mohamed Loay Ali
79
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Stepper Motor5.Driving Stepper motor(Uni-polar Drive Circuit).
Eng:Mohamed Loay Ali
80