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Motor Control
Dr. Charles J. Kim
Department of Electrical and Computer Engineering
Howard University
EECE691: Embedded Computing
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Motors and Control Methods• DC Motor Control
– Forward, Reverse, Stop– Control by Manual Switch– Control by Relay– Control by Transistor– Control by H-Bridge– Control by Motor Driver
• DC Stepper Motor Control– Bipolar Stepper Motor
• Control Driver– Unipolar Stepper Motor
• Control Driver
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DC Motors and Manual Control
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DC Motors and Manual Control
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Selector Switch
• SPST: Single pole single throw.SPDT: Single pole double throw.DPST: Double pole single throw.DPDT: Double pole double throw.DP3T: Double pole three throw.DP4T: Double pole four throw.3PDT: Three pole double throw.3P3T: Three pole three throw.
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Selector Switch Diagram
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Switch Diagram
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DC Motor Control by Relay
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Motor Control using a Relay
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DC Motor Control using High Current Relay
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DC Motor Control with Transistor
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Transistors for Control
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Transistor vs. MOSFET
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Darlington (Transistor)• Connection of two bipolar transistors in
tandem in a single device. • High gain (or beta)• Less space • Invented by Bell Laboratories engineer
Sidney Darlington.
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Transistor Array
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Darlington Array
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Darlington with DPDT relays
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MOSFET for Motor Control
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DC Motor H-Bridge Control
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Rotation Control using H-Bridge
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Standard H-Bridge Control
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Full/Half H-Bridge
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Bridge Motor Driver
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Bridge Driver
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H-Bridge Driver
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Bridge Driver
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DC Motor Driver
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Stepper Motors
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Stepper Motors
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Stepper Motor Structure
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Stepper Motor -Theory• Magnetic Field Created by Energized Coil• Steps for “One phase On” for two phase stepping motor
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Stepper Motor Theory
• “Two Phase On” for a 2-phase stepper
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Half-Stepping
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Stepper Motor – Speed vs. Torque
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Sequence for Unipolar and Bipolar
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Bipolar Stepper Control Sequence
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Unipolar Stepper Motor Sequence
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Bipolar Stepper Motor Driver
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Bipolar Driver
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Unipolar Driver
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Unipolar Stepper Driver
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Motors
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Motors
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Dual Motor Gearbox Kit
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Dual Motor Gearbox Kit
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Motor with Wheels