stepper and hbridge
TRANSCRIPT
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Eric Taseski, Yihe Huang, Ronak
Mehta
H-Bridges and Stepper Motors
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Standard DC Motors
Speed determined ! "o#tage #e"e#$
Motor
%cc
&
'(D
) -- )
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Stopping
(o mo"ement, ho#ds position$
*
Motor
%cc
'(D
ST+
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ree Spinning
Disconnected, does .hate"er it .ants$
/
Motor
%cc
'(D
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0hat i !ou .ant precision
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Stepper Motors4
recision mo"ement "ia
stepping
Can count re"o#utions
Can rotate continuous#! un#ike
a standard ser"o
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Ho. Stepper Motors 0ork
Di"ides a u## rotation into a numer o steps$
Mo"e one 6step7 at a time$
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Stepper Motors
1$ The hori9onta# pair is
dri"en .ith po.er in one
direction$ This pu##s the
opposite#! po#ari9ed teeth
to a#ign .ith them$
2$ The hori9onta# pair is
de-energi9ed, and the
"ertica# pair is energi9ed$
&$ The "ertica# pair is de-
energi9ed, and the
hori9onta# pair is energi9ed
in the opposite direction$
*$ The hori9onta# pair is de-
energi9ed, and the "ertica#
pair is energi9ed in the
opposite direction$
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Ho. Stepper Motors 0ork
1;
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Stepper Modes< 0a"e Mode
http
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Stepper Modes< u## Step Mode
http
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Stepper Modes< Ha# Step Mode
http
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1*
http
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Stepper Motors Contd$
http
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Ho. do .e po.er them
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H-Bridges4
>##o.s #o. "o#tage #ogic
.hi#e dri"ing eterna#
po.er to motors$
Easi#! contro# current in
oth directions, a##o.ing
motors to mo"e or.ards
and ack.ards$
seu# or DC motors,
stepper motors, ser"os,
so#enoids, etc$
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H-Bridges
Each ha# ridge is a transistor .ith an
ena#e$
F+0 %o#tage Gnput Contro# Fogic
HG'H %o#tage +utput
Motor %o#tage
Fogic Ena#e
Motor
Fogic Gnput
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H-Bridges
1:
E( 1,2
E( &,*
Gnput 1
Gnput 2
Gnput &
Gnput *
+utput 1
+utput 2
+utput &
+utput *
%cc, Motor Supp#! %o#tage
'(D
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H-Bridge inout
-E( pins ena#e output ?1 E( pin per pairA
->7s are contro# inputs
-Y7s are outputs
-%cc1 is circuit #ogic "o#tage
-%cc2 is the motor supp#!-'rounds go to ground
http
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u##-Bridge .ith DC Motor
21
Motor
) -
Ena#e
Gnput >
Gnput B
ENABLE Input A Input B Result
1 1 ; Motor turns C0
1 ; 1 Motor turns CC0
1 ; or 1 ; or 1 ast Stop
; ; or 1 ; or 1 ree Spin
1
;
1
;
1
1
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Ho. to .ire up a stepper motor
and the F2:&D
Fet side can e adapted to our Smartusion kits$
?codepro@ect$comA 22
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Protips #1-4
1. Heatsinks, or drive low to all pins to not drive urrent
!. Non-ne"li"ile volta"e drop aross H-Brid"e
$. %ar&in" P'( )ut& *&les an e used on ENABLE to
ontrol volta"e supplied +speed ontrol
4. reuen& response o/ 0otor
Low P'( /reuenies 0a& reate audile u or 2u0
Hi"2 P'( /reuenies waste power
2&
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Reerences
F2:&D ep#anation .ith Stepper Motor detai#s<
httprtic#es=1/153&=Motor-rimer-and-the-F2:&D-uad-Ha#-H-Dri"er
Stepper motor conigurations .ith microcontro##er pins<
http
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Backup S#ides
2/
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H-Bridge .ith DC Motor
31 3! 3$ 34 Result
1 ; ; 1 Mo"e C0
; 1 1 ; Mo"e CC0
; ; ; ; ree Spin
; 1 ; 1 Brake
1 ; 1 ; Brake
1 1 ; ; Shoot-through
; ; 1 1 Shoot-through
1 1 1 1 Shoot-throughhttp
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Microstepping
Ha# stepping .ith sinusoida# transitions et.een steps a##o.ing theoretica##!
ininitesima##! sma## step si9es$
http