AVR_Course_Day8 motor drive and pwm techniques
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The document discusses various topics related to motor drive and PWM techniques. It covers DC motors, including their parameters and speed control using PWM. It also discusses stepper motors, including their basics, components, types, driving modes for unipolar and bipolar stepper motors, and drive circuits. PWM modes for 8-bit and 16-bit controllers are explained for both DC and stepper motor control applications.
AVR_Course_Day8 motor drive and pwm techniques
- 1. Motor Drive and PWM Techniques Eng:Mohamed Loay Ali 1
- 2. 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 Motors 4. Unipolar and Bipolar Stepper Motors 5. Driving Stepper motor. Eng:Mohamed Loay Ali 2
- 3. DC motor 1. 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 3
- 4. DC motor 1. Introduction to DC motor and its parameters. The speed of the motor depends on three factors 1) 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 4
- 5. DC motor 1. Introduction to DC motor and its parameters. Eng:Mohamed Loay Ali 5
- 6. DC motor 1. Introduction to DC motor and its parameters. Eng:Mohamed Loay Ali 6
- 7. DC motor 1. Introduction to DC motor and its parameters. Eng:Mohamed Loay Ali 7
- 8. DC motor PWM 8 bits modes : Fast PWM Eng:Mohamed Loay Ali 8
- 9. DC motor PWM 8 bits modes : Fast PWM Eng:Mohamed Loay Ali 9
- 10. DC motor PWM 8 bits modes : Fast PWM Eng:Mohamed Loay Ali 10
- 11. DC motor PWM 8 bits modes : Fast PWM Eng:Mohamed Loay Ali 11
- 12. DC motor PWM 8 bits modes : Fast PWM Eng:Mohamed Loay Ali 12
- 13. DC motor PWM 8 bits modes : Fast PWM Eng:Mohamed Loay Ali 13
- 14. DC motor PWM 8 bits modes : Fast PWM Eng:Mohamed Loay Ali 14
- 15. DC motor PWM 8 bits modes : Fast PWM Eng:Mohamed Loay Ali 15
- 16. DC motor PWM 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 16
- 17. DC motor PWM 8 bits modes :PWM 8 bits modes : Fast PWM Eng:Mohamed Loay Ali 17
- 18. DC motor For non-Inverted mode For Inverted mode PWM 8 bits modes : Fast PWM Eng:Mohamed Loay Ali 18
- 19. DC motor PWM 8 bits modes : Fast PWM Eng:Mohamed Loay Ali 19
- 20. DC motor PWM 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 Eng:Mohamed Loay Ali 20
- 21. DC motorDC motor PWM 8 bits modes : Phase Correct Eng:Mohamed Loay Ali 21
- 22. DC motor PWM 8 bits modes : Phase Correct For non-Inverted mode For Inverted mode Eng:Mohamed Loay Ali 22
- 23. DC motor PWM 8 bits modes : Phase Correct Eng:Mohamed Loay Ali 23
- 24. DC motor PWM 16 bits modes (Fast PWM & Phase Correct). Speed Control of DC motor. DO IT Yourself Eng:Mohamed Loay Ali 24
- 25. Stepper Motor 1. 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 25
- 26. Stepper Motor 1. 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 26
- 27. Stepper Motor 2.Main Components of Stepper motor. Consists of 1.Stator: Holds multiple windings/phases Eng:Mohamed Loay Ali 27
- 28. Stepper Motor 2.Main Components of Stepper motor. Consists of 2.Rotor: Magnetized or non-magntized Eng:Mohamed Loay Ali 28
- 29. Stepper Motor 2.Main Components of Stepper motor. Voltage applied to winding initiates current flow Magnetic flux begins to flow Eng:Mohamed Loay Ali 29
- 30. Stepper Motor 2.Main Components of Stepper motor. Rotor rotates to minimize flux path (or reluctance) Eng:Mohamed Loay Ali 30
- 31. Stepper Motor 3.Types of Stepping Motors Permanent Magnet Magnetic rotor Variable Reluctance Non-magnetic, geared rotor Hybrid Combines characteristics from PM and VR Magnetic, geared rotor Eng:Mohamed Loay Ali 31
- 32. Stepper Motor 3.Types of Stepping Motors Permanent Magnet Eng:Mohamed Loay Ali 32
- 33. Stepper Motor 3.Types of Stepping Motors Variable Reluctance Non-magnetic, geared rotor Eng:Mohamed Loay Ali 33
- 34. Stepper Motor 3.Types of Stepping Motors Hybrid Combines characteristics from PM and VR Magnetic, geared rotor Eng:Mohamed Loay Ali 34
- 35. Stepper Motor 3.Types of Stepping Motors Eng:Mohamed Loay Ali 35
- 36. 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 36
- 37. 4.Unipolar and Bipolar Stepper Motors Stepper Motor A center tap added between the two leads −Unidirectional current flow in each ½ of winding Unipolar Eng:Mohamed Loay Ali 37
- 38. 5.Driving Stepper motor(Bipolar Full Step). Stepper Motor Eng:Mohamed Loay Ali 38
- 39. 5.Driving Stepper motor(Bipolar Full Step). Stepper Motor Eng:Mohamed Loay Ali 39
- 40. 5.Driving Stepper motor(Bipolar Full Step). Stepper Motor Eng:Mohamed Loay Ali 40
- 41. 5.Driving Stepper motor(Bipolar Full Step). Stepper Motor Eng:Mohamed Loay Ali 41
- 42. 5.Driving Stepper motor(Bipolar Full Step). Stepper Motor Eng:Mohamed Loay Ali 42
- 43. 5.Driving Stepper motor(Bipolar Full Step). Stepper Motor Eng:Mohamed Loay Ali 43
- 44. 5.Driving Stepper motor(Bipolar Full Step). Stepper Motor Eng:Mohamed Loay Ali 44
- 45. 5.Driving Stepper motor(Bipolar Full Step). Stepper Motor Eng:Mohamed Loay Ali 45
- 46. 5.Driving Stepper motor(Bipolar Full Step two phase on). Stepper Motor Eng:Mohamed Loay Ali 46
- 47. 5.Driving Stepper motor(Bipolar Full Step two phase on). Stepper Motor Eng:Mohamed Loay Ali 47
- 48. 5.Driving Stepper motor(Bipolar Full Step two phase on). Stepper Motor Eng:Mohamed Loay Ali 48
- 49. 5.Driving Stepper motor(Bipolar Full Step two phase on). Stepper Motor Eng:Mohamed Loay Ali 49
- 50. 5.Driving Stepper motor(Bipolar Full Step two phase on). Stepper Motor Eng:Mohamed Loay Ali 50
- 51. 5.Driving Stepper motor(Bipolar Full Step two phase on). Stepper Motor Eng:Mohamed Loay Ali 51
- 52. 5.Driving Stepper motor(Bipolar Full Step two phase on). Stepper Motor Eng:Mohamed Loay Ali 52
- 53. 5.Driving Stepper motor(Bipolar Full Step two phase on). Stepper Motor Eng:Mohamed Loay Ali 53
- 54. 5.Driving Stepper motor(Bipolar Full Step two phase on). Stepper Motor Eng:Mohamed Loay Ali 54
- 55. 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 55
- 56. 5.Driving Stepper motor(Bipolar half Step). Stepper Motor Eng:Mohamed Loay Ali 56
- 57. 5.Driving Stepper motor(Bipolar half Step). Stepper Motor Eng:Mohamed Loay Ali 57
- 58. 5.Driving Stepper motor(Bipolar half Step). Stepper Motor Eng:Mohamed Loay Ali 58
- 59. 5.Driving Stepper motor(Bipolar half Step). Stepper Motor Eng:Mohamed Loay Ali 59
- 60. 5.Driving Stepper motor(Bipolar half Step). Stepper Motor Eng:Mohamed Loay Ali 60
- 61. 5.Driving Stepper motor(Bipolar half Step). Stepper Motor Eng:Mohamed Loay Ali 61
- 62. 5.Driving Stepper motor(Bipolar half Step). Stepper Motor Eng:Mohamed Loay Ali 62
- 63. 5.Driving Stepper motor(Bipolar half Step). Stepper Motor Eng:Mohamed Loay Ali 63
- 64. 5.Driving Stepper motor(Bipolar half Step). Stepper Motor Eng:Mohamed Loay Ali 64
- 65. 5.Driving Stepper motor(Bipolar half Step). Stepper Motor Eng:Mohamed Loay Ali 65
- 66. 5.Driving Stepper motor(Bipolar half Step). Stepper Motor Eng:Mohamed Loay Ali 66
- 67. Stepper Motor 5.Driving Stepper motor(Unipolar half Step). Center Tap connected to Ground or Voltage Source. Current flows in ½ winding at a time. Eng:Mohamed Loay Ali 67
- 68. Stepper Motor 5.Driving Stepper motor(Unipolar). Eng:Mohamed Loay Ali 68
- 69. Stepper Motor 5.Driving Stepper motor(Unipolar). Eng:Mohamed Loay Ali 69
- 70. Stepper Motor 5.Driving Stepper motor(Unipolar). Eng:Mohamed Loay Ali 70
- 71. Stepper Motor 5.Driving Stepper motor(Unipolar). Eng:Mohamed Loay Ali 71
- 72. Stepper Motor 5.Driving Stepper motor(Unipolar half Step). Eng:Mohamed Loay Ali 72
- 73. Stepper Motor 5.Driving Stepper motor(Unipolar half Step). Eng:Mohamed Loay Ali 73
- 74. Stepper Motor 5.Driving Stepper motor(Bipolar Drive Circuit). Eng:Mohamed Loay Ali 74
- 75. Stepper Motor 5.Driving Stepper motor(Bipolar Drive Circuit). Eng:Mohamed Loay Ali 75
- 76. Stepper Motor 5.Driving Stepper motor(Bipolar Drive Circuit). Eng:Mohamed Loay Ali 76
- 77. Stepper Motor 5.Driving Stepper motor(Bipolar Drive Circuit). Eng:Mohamed Loay Ali 77
- 78. Stepper Motor 5.Driving Stepper motor(Bipolar Drive Circuit). Eng:Mohamed Loay Ali 78
- 79. Stepper Motor 5.Driving Stepper motor(Bipolar Drive Circuit). Eng:Mohamed Loay Ali 79
- 80. Stepper Motor 5.Driving Stepper motor(Uni-polar Drive Circuit). Eng:Mohamed Loay Ali 80