topicsee192/sp16/files/lec3.pdfeecs192 lecture 3 feb. 2, 2016 topics • keil hint: timing using...
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EECS192 Lecture 3
Feb. 2, 2016
Topics• Keil hint: timing using os_time
• Motor Electrical Model
• Back EMF
• Motor electromechanical behavior
• MOSFETs and motor drive
• H bridge
• PWM
• Back EMF measurement
Notes:
RSF no office hour Thurs Feb 4, 2 pm (this week only)
Check off-
• 2/5 project proposal – upload bcourses 5 pm
• 2/12: Motor drive/stall, steering servo
• Office hours – Thursday too late?
• Quiz 1: motor behavior Tues 2/9
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Timing from Keil Tools
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Timing from Keil Tools
~200 us
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DC Motor Physical Model
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Motor Electrical Model
Continued on board
Also- see motor worksheet……
Motor Electrical Model
Back EMF
Motor electromechanical behavior
Vm
Note: missing e-stop!
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Given: Rm = 0.1 ohms, Vbatt = 7.2 V, Rbat = 0.Vds = ? Ids = ? amps
Vgs =20VPtrans ~ 35 W
Vgs =6VPtrans ~ 72W
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Rm = 0.1 ohms, Vbatt = 7.2 V, Rbat = 0.Vds = 3.6V Ids = (7.2-3.6V)/(0.1 ohm) = 36 amps
Vgs =20VPtrans ~ 35 W
Vgs =6VPtrans ~ 72W
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H bridge gate driver devices
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PWM
https://developer.mbed.org/handbook/PwmOut