Robotix Tutorial 4

Oct 20, 2008Download as pps, pdf2 likes503 views

This document provides an overview of robotics motor drivers and DC motor control circuits. It discusses DC motor direction control using an H-bridge circuit and DC motor speed control using pulse width modulation (PWM). PWM allows modifying the duty cycle of a waveform based on a control voltage and is implemented using the 555 timer IC to control both the speed and direction of a DC motor.

TECHNOLOGY ROBOTICS SOCIETY Indian Institute of Technology, Kharagpur

DC Motor Drivers These are current amplifying circuits A low current control signal is converted into a proportionally higher current signal that can drive the motor Power Transistors can switch high currents. The I Cmax is usually of the order of Amps as compared to small signal transistors which have I Cmax in mA Example: L293d, L298, ULN2003 Copyright © Robotix Team, IIT Kharagpur

DC Motor Direction Control H – Bridge Circuit Diagram Copyright © Robotix Team, IIT Kharagpur S 1 S 3 S 2 S 4 M 1 2 V CC Power Transistor Switches

H – Bridge Working Copyright © Robotix Team, IIT Kharagpur S1 S2 S3 S4 Current Direction Effect 1 0 0 1 1 to 2 Motor spins forward 0 1 1 0 2 to 1 Motor spins backward 1 1 0 0 - Braking Occurs 0 0 0 0 - Free running

DC Motor Speed Control Circuit Input is the operating voltage & control signal Output is a part of the operating voltage depending upon the control signal Copyright © Robotix Team, IIT Kharagpur

DC Motor Speed Control Cont… Controlling the current by passing it through a variable resistor is not advisable as it is extremely energy inefficient A trick is done to achieve reduced average power Power is supplied to the motor in short intermittent bursts, as explained further Copyright © Robotix Team, IIT Kharagpur

Duty Cycle Cont… The time period ( τ ) is the duration after the voltage waveform repeats itself Duty Cycle is the % time of τ , the voltage is equal to the operating voltage The average voltage is equal to the ‘Duty Cycle’ % of the Operating Voltage Copyright © Robotix Team, IIT Kharagpur

Pulse Width Modulation PWM is a technique using which we can modify the duty cycle of a waveform depending upon an input control voltage This forms the backbone of our speed control circuit It can be easily implemented using the popular multipurpose IC 555, used widely for hobby electronics Copyright © Robotix Team, IIT Kharagpur

Both Speed & Direction Control Copyright © Robotix Team, IIT Kharagpur

Vector control is a more advanced and precise method of controlling AC induction motors compared to scalar control. It involves transforming the motor currents and voltages into a rotating reference frame to obtain decoupled control similar to a DC motor. This allows for independent control of flux and torque for faster dynamic response and better performance than scalar control. The basic implementation of vector control uses Clarke and Park transformations to convert between stationary and rotating reference frames in the controller. It provides DC motor-like precision in speed and torque control of induction motors.

Basic Presentation on Speed control of induction motorNileshBambhaniya2

Vector control of induction motorVaibhav Goyal

This document provides an overview of vector control of AC induction motors compared to scalar control. Vector control decouples the torque and flux produced by the motor, allowing for more precise independent control. It does this by controlling the direct current (Id) that produces flux and quadrature current (Iq) that produces torque. There are two approaches to vector control - direct field oriented control that directly measures the rotor angle and indirect field oriented control that indirectly measures it using slip speed. Key benefits of vector control are fast transient response since torque can be controlled without affecting flux, and ability to control speed in all four quadrants.

Control of dc drivesKeval Patel

This document summarizes control of DC drives. It discusses types of DC motor configurations including series and separately excited motors. It describes single phase and three phase DC drives that use converters depending on the supply available. Chopper drives are discussed as a way to control DC motor speed by adjusting the duty cycle and switching frequency of the chopper output voltage. Phase locked loop control of DC drives is also mentioned as a way to precisely control motor speed by synchronizing the motor speed pulses to a reference frequency pulse train. Applications of DC drives include rolling mills, paper mills, printing presses, mine winders and machine tools.

My minor projectBhrigu Raj Sharma

The document describes the design of an electronics and programming project for a minor project involving an Atmega32 microcontroller, H-bridge circuit, DC motors, and programming in AVR Studio 4 to control the movement and direction of the motors through switches and sensors. Electronic components include an Atmega32 microcontroller, crystal oscillator, resistors, capacitors, diodes, and switches to operate the motors and LEDs according to programmed instructions loaded onto the microcontroller. The goal is to build a differentially-driven programmable robot using a basic H-bridge circuit design to reverse the polarity of the DC motors to control forward and backward movement.

Speed control of induction motor using vf dsAli Hassan

This document discusses variable frequency drives (VFDs) and how they are used to control the speed of induction motors. It describes the main components of a VFD - the rectifier, DC bus, and inverter - and how they work together to convert incoming AC power to DC and then invert it back to AC at a variable frequency that controls motor speed. The document notes that VFDs are used in boilers at a company to control induced draft fans, forced draft fans, and bagasse feeders. It explains that VFDs provide energy savings of 25-30% by consuming only the power needed, with a return on investment period of 6 months to 2 years. Advantages include efficient motor speed control while

Micro computer control of dc driveraviarmugam

This document discusses the digital control of DC drives using microcomputers. It describes how microcomputers can be used to control the speed and current of DC motors through programs that implement constant torque and constant horsepower operations. The microcomputer provides reliable control, flexibility to change control strategies, and can incorporate additional features like diagnostics and protections. Microcomputers reduce costs and size compared to analog controls while improving control performance and reliability. Speed is detected and current sensed to provide feedback for the inner current and speed control loops implemented through the microcomputer.

Speed control of single phase induction motor with variable frequency voltage...SHAHRUKH ALAM

This document discusses speed control of a single phase induction motor using a variable frequency voltage source inverter (VSI). It begins with an objective to generate a variable frequency output from the inverter to run the motor at variable speeds proportional to the frequencies. It then discusses single phase induction motor speed control, the components of a variable frequency drive including rectifier and inverter stages, and how a VSI can provide speed control. It also touches on modulation techniques like PWM that are used to control the VSI output voltage. MATLAB simulations demonstrate speed control at different frequencies. Advantages include energy savings and reduced wear. Applications include pumps, fans, and conveyors.

Speed Control of DC Motor using MicrocontrollerSudip Mondal

This document discusses a project to control the speed of a DC motor using a microcontroller and pulse width modulation. Specifically, it aims to vary the speed-torque relationship of a DC motor electronically using a microcontroller to generate high and low pulses that control motor speed. Pulse width modulation is identified as a technique that can be used to simulate variable voltages through variations in pulse width to achieve variable analog speed control. The document outlines the components used, including an H-bridge circuit and microcontroller, and discusses some limitations such as susceptibility to electromagnetic interference.

Simulation of Automatic speed control DC DriveIndian Institute of Technology Delhi

This document presents a project report on simulating automatic speed control of a DC drive. It was submitted by four students to fulfill the requirements of a Bachelor of Technology degree. The report includes an introduction to the project, descriptions of the key components used including the DC motor, H-bridge, PWM, and sensors. It also provides the specifications of the components in the Simulink model, discusses the applications of the drive on different loads, and presents the simulation results. The conclusions discuss the advantages of the automatic speed control drive and potential future applications.

Design of Speed and Current Controller for Two Quadrant DC Motor DriveKaushik Naik

This document discusses the design of a current controller for a two-quadrant DC motor drive system using a model order reduction technique. It first presents the literature on various order reduction methods. It then derives the transfer functions of the DC motor, converter, current and speed controllers. Using the symmetric optimum method, it designs the current controller as a second-order system and the speed controller as a first-order system, reduced from their original higher orders. Simulation results show the performance of the reduced order system matches the conventional system. The document concludes the motor drive control is designed and simulated successfully using the symmetric optimum method.

Low Cost Automatic Speed Control of Single Phase AC Fan MotorsSouvik Dolui

The document discusses a new TRIAC motor controller called the SmartFan MMC series that provides precise control of single phase AC fan motors. The MMC uses a microprocessor to precisely time TRIAC firing for improved speed control of fans and other small motors. It monitors output voltage in real time to maintain a stable speed even under varying loads. This allows the MMC to control a wider range of motors more effectively than conventional TRIAC controllers.

Speed Control Techniques for Induction Motor - A Reviewijsrd.com

In this paper, various types of speed control methods for the single phase induction motor are described. Speed can be controlled to control the frequency or slip can be controlled to control the torque. Then flux and torque are also function of frequency and voltage. Various methods are used to control the flux and voltage. This paper is focused on sliding mode control technique for induction motor.

DRIVERSChakri Pani

This document discusses drives used for heating, ventilation and air conditioning systems. It compares AC and DC drives, describing their advantages and disadvantages. AC drives have lower motor costs but higher power converter costs compared to DC drives. Microprocessor control is discussed for both AC and DC drives. Common industrial applications of microprocessor controlled AC drives are also listed, such as for fans, pumps and compressors. The document concludes with advantages of microprocessor controlled drives like better process control and reliability.

Variable Frequency Drive Vs Servo Drive Systemsoftconsystem

Design of drive for speed control of induction pptAvinash Varanasi

This document presents a project to control the speed of an induction motor using a variable frequency/variable voltage (V/F) method. The project team includes 6 members and is guided by Arun Kumar. The system uses a microcontroller to provide easy control over and adjustable speed capability for the induction motor. It consists of electronic components, a microcontroller, and an LCD display. The motor speed can be selected and adjusted to user-defined speeds under various load conditions, with the V/F ratio maintained constant to keep the air gap flux stable. Experimental results showing motor speed at different voltages, frequencies and loads are presented in a table.

1. direct torque control of induction motor with fuzzy controller a reviewMajdi Dadeq

This document reviews direct torque control of induction motors with fuzzy controllers. It begins by providing background on induction motors and their widespread use in industry. It then discusses direct torque control, which aims to directly control the stator flux and torque of induction motors through optimal selection of inverter switching vectors. The rest of the document discusses modeling induction motor drives using direct torque control with fuzzy logic applications and compares various techniques that have been proposed.

FOUR QUADRANT SPEED CONTROL OF DC MOTOR USING AT89S52 MICROCONTROLLERJournal For Research

Speed control of a machine is the most vital and important part in any industrial organization. This paper is designed to develop a four quadrant speed control system for a DC motor using microcontroller. The motor is operated in four quadrants i.e. clockwise, counter clock-wise, forward brake and reverse brake. It also has a feature of speed control. The four quadrant operation of the dc motor is best suited for industries where motors are used and as per requirement they can rotate in clockwise, counter-clockwise and also apply brakes immediately in both the directions. In case of a specific operation in industrial environment, the motor needs to be stopped immediately. In such scenario, this proposed system is very apt as forward brake and reverse brake are its integral features. Instantaneous brake in both the directions happens as a result of applying a reverse voltage across the running motor for a brief period and the speed control of the motor can be achieved with the PWM pulses generated by the microcontroller. The microcontroller used in this project is from 8051 family. Push buttons are provided for the operation of the motor which are interfaced to the microcontroller that provides an input signal to it and controls the speed of the motor through a motor driver IC. The speed and direction of DC motor has been observed on digital CRO. Microcontroller programming has been written in assembly language by using notepad and it has been converted in hex file by using micro vision Kiel. The burning of programming in the 8051 microcontroller chip has been done by using positron boot loader software.

Dc motor speed controlWaleed El-Badry

This document summarizes the design and implementation of a fuzzy logic controller for speed control of a DC motor. It describes creating a fuzzy logic class library in Visual Studio, defining the Mamdani fuzzy system and input/output variables, adding trapezoidal and triangular membership functions to fuzzify the speed input and output voltage, writing five fuzzy rules to relate them, and taking a screenshot of the project.

14. a variable speed, sensorless, induction motor drivesatya_m

The document presents a new sensorless control strategy for a three-phase induction motor drive using only DC link current measurements. The strategy estimates motor speed and torque through signal reconstruction rather than direct sensor readings. It includes independent speed and torque control loops as well as current regulation. Simulation results on a 2.2 kW induction motor show fast dynamic response and good agreement between actual and estimated torque and speed values. The proposed drive requires only one current sensor in the DC link, making it suitable for low-cost sensorless motor applications.

Vector control of induction motorVaibhav Goyal

Vector control of AC induction motors provides superior dynamic performance compared to scalar control by decoupling torque and flux control. Vector control represents the stator currents as direct and quadrature components (Ids and Iqs) that independently control flux and torque. This allows precise and independent control of torque and flux to eliminate oscillations for applications requiring high performance like robotics. Vector control implementations determine the orientation of Ids and Iqs either directly by measuring airgap flux or indirectly by measuring slip speed to achieve independent control of the current components.

Speed Control of DC MotorMafaz Ahmed

Speed control of 1 φ inducton motor using traicjawededu

This document describes a circuit to control the speed of a single-phase induction motor using a triac. The circuit consists of five main parts: 1) A step-down transformer, 2) Bridge rectifiers to rectify AC voltages, 3) A comparator to compare voltages, 4) A 555 timer in astable mode to generate pulses, and 5) An AND gate to eliminate negative pulses and control the triac firing angle. Varying the triac firing angle allows adjusting the motor speed by varying the output voltage. PSPICE simulation and breadboard testing have been completed so far.

Direct torque control methodకృష్ణ తేజ

This document proposes a direct torque control strategy for doubly fed induction machine-based wind turbines that can operate under voltage dips without crowbar protection. The control strategy generates a rotor flux amplitude reference to control the torque of the wind turbine and reduce stator and rotor overcurrents during faults. It also provides fast dynamic response. While the control does not eliminate the need for crowbar protection entirely, it can prevent the crowbar from activating during low-depth voltage dips. The direct torque control approach maintains machine connection to the grid and reduces torque oscillations during faults.

Variable speed drive in pumping systempranav teli

Variable speed drives (VSDs) can significantly reduce pumping system energy consumption through more efficient motor control. VSDs allow pumping system motors to vary their speed based on system demands, lowering energy usage compared to fixed speed motors. There are mechanical and electrical methods for varying motor speed, with electrical VSDs being the most common. VSDs provide advantages like reduced power requirements, increased efficiency, lower wear on pumps, and longer equipment life. However, care must be taken to avoid potential vibration issues at certain speeds. Overall, implementing VSDs in pumping systems can help address energy costs and consumption worldwide.

Speed control of dc motorsragulkncet

The document discusses speed control methods for DC motors. It describes various types of speed control for DC series and shunt motors, including flux control, armature voltage control, potential divider control, and applied voltage control. It also discusses the Ward-Leonard system of speed control, which uses a motor-generator set to provide smooth and rapid variable speed control and is commonly used for elevators and industrial machinery. The document outlines advantages like smooth wide range speed variation but also disadvantages like low efficiency and high initial cost.

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The document discusses microcontrollers from the AVR family made by Atmel, specifically the ATmega8. It provides details on the ATmega8's features such as its 8-bit RISC architecture, 8KB of flash memory, timers, PWM channels, ADC, and communication interfaces. It also introduces software tools for programming AVR microcontrollers like WinAVR and libraries like AVRlib. Code examples are given for configuring PWM motor control, reading the ADC, and serial communication via UART.

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Servo motors can precisely control the angular position of a shaft through signals received on the input line. They have a high torque to weight ratio and consist of amplifiers, a gear reduction system, motor, and feedback potentiometer enclosed in a small case. The angle of the servo motor is determined by the duration of a control pulse applied to the input wire, with longer pulses rotating the shaft closer to 90 degrees and shorter pulses closer to 0 degrees. An example shows a 1.59ms pulse will rotate the shaft to 30 degrees. The circuit uses a NE555 timer IC to generate repeated pulses to control the servo motor position. While servo motors provide precise control, they have higher costs than stepper motors due to the motor and

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This document summarizes the use of variable frequency drives in treadmills. It discusses how most treadmills previously used DC brush motors but these had issues like high failure rates and maintenance costs. The document then explores how using an AC motor with a variable frequency drive can improve on the limitations of DC motors. It provides details on how variable frequency drives work, including discussing the rectifier, DC bus, inverter and control circuit components. It also explains techniques like pulse width modulation and flux vector control that are used to control the speed of AC motors. The objectives of using a variable frequency drive in a treadmill are listed as energy savings, increased life of components, reduced noise and vibration, lower thermal and mechanical stresses, and

An044259264IJERA Editor

This document presents a study on using an artificial neural network technique for flux position estimation and sector selection in direct torque control of an induction motor. Direct torque control aims to provide quick torque response without complex transformations but suffers from high torque ripples. The proposed method uses a neural network for flux position estimation and sector selection to determine the optimal voltage vector, with the goal of reducing torque and flux ripples. The neural network structure is simple to facilitate short training and processing times. Simulation results show the neural network based controller provides high performance speed control of the induction motor.

Speed Control of DC Motor under Varying Load Using PID ControllerCSCJournals

DC motors are used extensively in industrial variable speed applications because of most demanding speed-torque characteristics and are simple in controlling aspects. This paper presents a DC motor speed controlling technique under varying load condition. The linear system model of separately excited DC motor with Torque-variation is designed using PID controller. A Matlab simulation of proposed system with no-Load and full-load condition is performed on Simulink platform to observe the system response. The motor speed is kept constant in this experiment. The simulation result of the experiment shows that a motor is running approximately at a constant speed regardless of a motor load. The Simulink results show that the speed of the motor is slow down only for about 270 rpm (9%) in 980 milliseconds under the effect of full load. However, the motor speed is hunting about 200 rpm (6.66%) in 900 milliseconds on unloading condition. It is concluded that a PID controller is successful tool for controlling the motor speed in presence of load disturbances.

Design and Implementation of an Interface Circuit for DC Motor Speed Control ...Firas Mohammed Ali Al-Raie

The document describes the design and implementation of an interface circuit for controlling the speed of a DC motor using pulse width modulation (PWM) technique. The circuit uses a 555 timer chip to generate a PWM signal with variable pulse width to control the motor speed. Relays connected to the PC's parallel port are used to vary the pulse width by changing the timer's charging resistor, thereby controlling the motor speed in three levels. The circuit was successfully tested to demonstrate PWM-based speed control of a small DC motor via a computer program.

Online certification course matlab , electrical machine , motor and motor con...ArvindKumar1806

This document provides a summary of an industrial training presentation submitted by Shubham Dadhich. It outlines various courses covered during the training, including complete electrical machines, motor and motor control circuits, PLC and AC drive systems, system dynamics and control, and an introduction to MATLAB programming. Time spent on each course is provided. The training was aimed at providing knowledge of electrical machines, motor control, industrial automation using PLCs, system modeling, and programming skills.

IRJET- A Review on - PMBLDC Motor Drive with Power Factor Correction ControllerIRJET Journal

This document reviews various techniques for power factor correction in brushless DC motor drives, including SEPIC converter, isolated-zeta converter, boost converter, four quadrant operation, Landsman converter, and BL-CSC converter. It discusses the operation and simulation results of each technique, comparing their performance in terms of percentage total harmonic distortion and power factor. The boost converter and isolated-zeta converter are highlighted as suitable for low power applications due to their ability to operate in discontinuous conduction mode with a single voltage sensor. Maintaining a high power factor is important to improve power quality at the AC supply.

IJET-V2I6P11IJET - International Journal of Engineering and Techniques

The aim of this paper is to control the speed of DC motor. The main advantage in using a DC motor is that the Speed-Torque relationship can be varied to almost any useful form. To achieve the speed control an electronic technique called Pulse Width Modulation is used which generates High and Low pulses. These pulses vary the speed in the motor. For the generation of these pulses a microcontroller (AT89c51) is used. As a microcontroller is used to set the speed ranges which is done by changing the duty cycles time period in the program. This is practical and highly feasible in economic point of view, and has an advantage of running motors of higher ratings. This paper gives a reliable, durable, accurate and efficient way of speed control of a DC motor.

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Predefined speed control of bldc motorEdgefxkits & Solutions

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IRJET- A Review on - PMBLDC Motor Drive with Power Factor Correction ControllerIRJET Journal

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