MICROCONTROLLER- BASED INFRARED TRACKING ROBOT

Automated system like robots carry out specific tasks. These systems are usually employed in environments where conditions keep changing. The robot described here senses the 38 kHz infrared radiation and move towards that direction.

CIRCIUT DESCRIPTION
Fig. 1 shows the block diagram of the microcontroller-based infrared tracking robot. It has three sections, namely, sensors, controller and drivers sensing circuit and microcontroller along with stepper motor circuit are shown in the fig 2 and 3 respectively. MICROCONTROLLER AT89C52 :OVERVIEW

A microcontroller (also MCU or C) is a computer-on-a-chip. It is a type of microprocessor emphasizing self-sufficiency and cost-effectiveness, in contrast to a general-purpose microprocessor (the kind used in a PC). In addition to all arithmetic and logic elements of a general purpose microprocessor, the microcontroller usually also integrates additional elements such as read-only and read-write memory, and input/output interfaces. Microcontrollers are frequently used in automatically controlled products and devices, such as automobile engine control systems, office machines, appliances, power tools, and toys. By reducing the size, cost, and power consumption compared to a design using a separate microprocessor, memory, and input/output devices, microcontrollers make it economical to electronically control many more processes The majority of computer systems in use today are embedded in other machinery, such as telephones, clocks, appliances, and vehicles. An embedded system may have minimal requirements for memory and program length. Input and output devices may be discrete switches, relays, or solenoids. An embedded controller may lack any human-readable interface devices at all. For example, embedded systems usually don't have keyboards, screens, disks, printers, or other recognizable I/O devices of a personal computer. Microcontrollers may control electric motors, relays or voltages, and may read switches, variable resistors or other electronic devices.

In contrast to general-purpose CPUs, microcontrollers may not implement an external address or data bus, because they integrate RAM and non-volatile memory on the same chip as the CPU. Because they need fewer pins, the chip can be placed in a much smaller, cheaper package. Integrating the memory and other peripherals on a single chip and testing them as a unit increases the cost of that chip, but often results in decreased net cost of the embedded system as a whole. Originally, microcontrollers were only programmed in assembly language, or later in C code. Recent microcontrollers integrated with on-chip debug circuitry accessed by In-circuit emulator via JTAG enables a programmer to debug the software of an embedded system with a debugger. Some microcontrollers have begun to include a built-in high-level programming language interpreter for greater ease of use. The Intel 8052 and Zilog Z8 were available with BASIC very early on, and BASIC is more recently used in the popular BASIC Stamp MCUs. Some microcontrollers such as Analog Device's Blackfin processors can be programmed using LabVIEW, which is a high level programming language. A microcontroller is a single integrated circuit, commonly with the following features:

central processing unit - ranging from small and simple 4-bit processors to complex 32- or 64-bit processors discrete input and output bits, allowing control or detection of the logic state of an individual package pin serial input/output such as serial ports (UARTs) other serial communications interfaces like IC, Serial Peripheral Interface and Controller Area Network for system interconnect peripherals such as timers and watchdog volatile memory (RAM) for data storage ROM, EPROM, [EEPROM] or Flash memory for program and operating parameter storage clock generator - often an oscillator for a quartz timing crystal, resonator or RC circuit many include analog-to-digital converters

AT89C52 is a low- power , high-performance CMOS 8- bit microcontroller with 8 Kb of downloadable Flash programmable erasable read only memory, 2kB of EEPROM ,256 bytes of RAM ,32I/O lines ,programmable watchdog timers ,two data pointers , three 16-bit timers/ counters , a six-vector two-level interrupt architecture , a full duplex serial port , on-chip oscillator and clock circuitry. The device is compatible with the 80C51 instruction set and pin-out. The on-chip downloadable Flash allows the program memory to be reprogrammed interface or by a conventional non-volatile memory programmer. In addition, the AT89C52 is designed with static logic for operation down to zero frequency and supports two software selectable power-saving modes. The idle mode stops the CPU while allowing the RAM, Timer/ counters, serial port, and interrupt systems to continue functioning. The power-down mode saves the RAM contents but freezes the oscillators, disabling all other chip functions until the next external interrupt or hardware reset is activated. The downloadable Flash can be changed in steps of a single byte and is accessible through the SPI serial interface. Holding reset a pin high forces the SPI bus into a serial programming interface and allows the program memory to be written to or read from unless lock bits have been activated.
Pin Configurations
AT89C52

Block Diagram of AT89C52

Serial port and Timer/ counters:

These are important features of AT89C52 that help to simplify the system design required for a number of applications. The serial port is duplex. It has a buffer that allows next byte to be received before the previous byte has been read from the receive register.

TSOP1738:
Description TSOP1738 is a miniaturized receiver for infrared remote control, supporting all major transmission codes. The PIN diode and preamplifier are assembled on the lead frame. The demodulated output signal can directly be decoded by a microprocessor. The TSOP17.. series are miniaturized receivers for infrared remote control systems. PIN diode and preamplifier are assembled on lead frame, the epoxy package is designed as IR filter. The demodulated output signal can directly be decoded by a microprocessor. TSOP17.. is the standard IR remote control receiver series, supporting all major transmission codes. Features 1. Photo detector and preamplifier in one package 2. Internal filter for PCM frequency 3. Improved shielding against electrical field disturbance 4. TTL and CMOS compatibility 5. Output active low 6. Low power consumption 7. High immunity against ambient light 8. Continuous data transmission possible (up to 2400 bps) 9. Suitable burst length .10 cycles/burst

TSOP1738

The circuit of the TSOP17.. is designed in that way that unexpected output pulses due to noise or disturbance signals are avoided. A bandpassfilter, an integrator stage and an automatic gain control are used to suppress such disturbances. The distinguishing mark between data signal and disturbance signal are carrier frequency, burst length and duty cycle. Block Diagram

Application Circuit

*) recommended to suppress power supply disturbances **) The output voltage should not be hold continuously at a voltage below 3.3V by the external circuit.

74121:74121 is a monostable multivibrator featuring both positive and negative edge triggering with complementary outputs. An internal 2-kilo-ohm timing resister is provided or design convenience minimizing component count and layout programs. This device can be used with a single external capacitor. Input A is an active-low trigger input and input B is an active high transition Schmitt-trigger input that allows jitter free triggering from inputs with transition rates as low as 1 volts/seconds. a high immunity to Vcc noise of typically 1.5V is also provided by the internal circuitry at the input stage. The basic output pulse width is determined by selection of an internal resistor RINT or an external resistor (RX) and capacitor ( CX). Once triggered, the output pulse width is independent of further transition of the inputs and is a function of the timing components. Pulse width can vary from a few nanoseconds to 28 nanoseconds by choosing appropriate RX and CX combination. Stepper motors: Stepper motor is an electromechanical device or digital motor as it can move in discrete steps and traverse through 360 degrees. Nowadays many computer peripherals contain one or more stepper motors.

ULN2003:
The ULN2003 has high voltage, eight open- collector Darlington pairs with common emitters. Each channel is rated at 500mA and can withstand peak currents up to 600mA. Suppression diodes are included for inductive load driving and the inputs are pinned opposite the outputs to simplify board layout. This versatile device is useful for driving a wide range of loads including solenoids, relays, DC motors, LED display, filament lamps, thermal print heads and high-power buffers. SEVEN DARLINGTONS PER PAC. KAGE OUTPUT CURRENT 500mA PER DRIVER .(600mA PEAK) .OUTPUT VOLTAGE 50V INTEGRATED SUPPRESSION DIODES FOR .INDUCTIVE LOADS OUTPUTS CAN BE PARALLELED FOR .HIGHER CURRENT .TTL/CMOS/PMOS/DTL COMPATIBLE INPUTS INPUTS PINNED OPPOSITE OUTPUTS TO SIMPLIFY LAYOUT

These versatile devices are useful for driving a wide range of loads including solenoids, relays DC motors, LED displays filament lamps, thermal printheads and high power buffers.The ULN2001A/2002A/2003A and 2004A are supplied in 16 pin plastic DIP packages with a copper leadframe to reduce thermal resistance. They are available also in small outline package (SO-16) as ULN2001D/2002D/2003D/2004D.
SCHEMATIC DIAGRAM

PIN CONNECTION(ULN2003)

ABSOLUTE MAXIMUM RATINGS

Symbol

Vo Vin - 2004A/D) Ic Ib Tamb Range

Parameter Output Voltage Input Voltage (for ULN2002A/D 2003A/D Continuous Collector Current Continuous Base Current Operating Ambient Temperature

Value 50 30 500 25 20 to 85

Unit V V mA mA C

Tstg Range Tj

Storage Temperature Junction Temperature

55 to 150 150

C C

Before describing the functioning of the system, here is a brief description of the hardware used in the robot:
PARTS LIST Semiconductors: 1. IC1-IC3 2. IC4-IC6 3. IC7 4. IC8 5. IC8 6. LED1 1. 2. 3. 4. 5. R1-R3 R4-R6 R7 R8 R9 74121 timer TSOP1738 IR receiver module AT89C52 microcontroller ULN2803 darlington array 7805 5V regulator 5mm red LED 100 ohm 15 K-ohm 2.2K-ohm 220 ohm 8.2 K-ohm 47F, 16V electrolytic 10 F, 16V electrolytic 33 pF ceramic disk 10 F, 16V electrolytic ON/OFF switch Push-to-on switch 12 MHz crystal 9V battery

Resistors(all -watt, 5% carbon):

Capacitors: 1. C1-C3 2. C4-C6 3. C7, C8 4. C9 Miscellaneous: 1. S1 2. S2 3. XTAL 4. BATTERY

stepper motor

WORKING
The TSOP1738 sensor detect IR radiation at a carries frequency of 38kHz. Three TSOP1738 sensor are used in the circuit for left, centre, and right direction movements of the object. Depending on the position of the object., one or more sensors are activated . As the position of the object keeps on changing, there is a continuous change in the output of the sensors. This data cannot be directly fed as input to the microcontroller as by the time the microcontroller executes the previous data instruction, new data input would be lost. Therefore the output of the sensor is latched. This is done through monostable multivibrator IC 74121. The 74121 provides both positive and negative-edge triggering with complementary outputs. The on time of the multivibrator is derived from the RC network. Thus T-ON work out 0.69RC, which is 100ms in this case. At any give instant of time, there can be (2)3 = 8 possible outcomes. These outcomes of the multivibrator are fed to microcontroller AT89C52. AT89C52 has four port. Port P3 is used as an input port and ports P1 and P2 are used as output ports. Bits P3.0, P3.1, and P3.2 are connected to left, mid and right sensors , respectively. In ports P1 and P2, bits P1.0 to P1.3 and bits P2.0 to P2.3 are connected to the left and right motor drivers, respectively. The microcontroller processes the input information and outputs at ports P1 and P2. Depending on input combinations to the microcontroller, different actions are performed by it. These are summarised in the truth table. From the truth table, it is clear that when there is no IR radiation, the input to the microcontroller is 000. In this situation, the robot rotates in the clockwise direction, i.e , towards right searching for the IR source present in its vicinity. When the input is 001, i.e the right sensor along gets activated, the robot turns right. 010 condition is obtained only when centre sensor detects IR radiations and the robot moves straight. With 100, only the left sensor is activated and the

robot moves towards left. Similarly, when the input to the microcontroller is 110, the robot moves towards left. When all the sensor detect IR radiation, the robot moves straight. The condition 101,meansw that the left and right sensor, but not the mid one, detect the IR radiations. This can happen only if there is an obstacle in front of the robot. So when the robot encounters such a combination, it rotates in the anticlockwise direction, i.e towards left. In other words, if there is any obstacle in its paths, the robot deviates away from it and again starts tracking the object. However, the output of the ports is not sufficient to drive the stepper motors. Therefore ULN2003, which is a high- voltage and high-current Darlington array, is used in between the microcontroller and the stepper motor to produce enough current to drive the motors. The stepper motors consisting of four coils, can move both in clockwise and anticlockwise direction. The direction of the motor depends on the sequence of bits given to them. The sequence of bits that are fed to the stepper motor is as follows:For right motor 0 0 01 0 0 10 0100 1000 For left motor 0 0 01 1000 0100 0010

Thus the subroutine called transfers one or both of the sequences to the stepper motors through the output port. The logic used for controlling the direction of movement of the robot is as follows: If the robot has to move towards right, the left motor should rotate, and vice versa to movement left. For the forward movement, the right motor should rotate in clockwise direction, whereas the left motor rotates in anti-clockwise direction.

SOFTWARE
The software is assembled using Metalinks ASM51 assembler, which is freely available from the internet and can be downloaded. Source program is working as per flow chart shown in fig- Subroutine flow charts in straight, left and right are shown in fig respectively.

APPLICATION
This robot is designed keeping in mind two applications:1. Heat-seeking missile 2. Fire extinguisher As a heat- seeking missile :- the heat-seeking missile is a special kind of missile that not only reaches the target emitting heat radiation (aircraft, ship or boat ) but also tracks it. As the target moves, it follows the target and finally hits it. The missile is based on the concept of detecting and following the heat radiating source. The robot, designed for 2-dimensional motions, performs the tasks heat-seeking missile as it tracks heat-radiating objects. As a fire extinguisher:- The robot can be used as a highly sophisticated fire extinguisher, when it detects fire , will move towards fire, deviating away from any obstatcle, and extinguish the fire. LIMITATIONS A heat-seeking missile is by itself a complex mechanism of 3-dimensional movements in space, which is good for knowledge of thermodynamics and of rocket science. We have simplified it to 2-dimensional movements, which is not a realistic situation. Natural IR radiation have a wide frequency spectrum. However in this project , we have brought it down to 38kHz as the sensors used are designed for this carrier frequency. Future enhancements 1. the microcontroller can be reprogrammed to increase speed, sensitivity etc. 2. for use as a fire extinguisher, a temperature sensor can be added to the robot. Once the temperature reaches a predetermined value , an interrupt is activated. This will bring the robot to stop at a safe distance from fire and put out and operate the extinguisher.

STEPPER MOTER
Stepper motors can be found in almost any piece of electro-mechanical equipment. From my personal experiences, good sources for stepper motors include

What Is A Step Motor?

stepper motor rotates a precise angular distance, one step, for each pulse that is delivered to its drive circuit. For example, if a particular stepper motor has a step angle of 7.5 per pulse and the shaft is to be turned through 225 in order to place an object in a certain target position , then it is only necessary to supply 225/7.5 =30 pulse to the motor drive circuit . because the step pulse can be counted digitally and stopped when the desired number have been deliverd, stepping motor lend themselves to digital control by a programmable controller or micro-computer. Stepper motors, however, behave differently than standard DC motors. First of all, they cannot run freely by themselves. Stepper motors do as their name suggests -- they "step" a little bit at a time.Stepper motors also differ from DC motors in their torque-speed relationship. DC motors generally are not very good at producing high torque at low speeds, without the aid of a gearing mechanism. Stepper motors, on the other hand, work in the opposite manner. They produce the highest torque at lowspeeds. Stepper motors also have another characteristic, holding torque, which is not present in DC motors. Holding torque allows a stepper motor to hold its position firmly when not turning. This can be useful for applications where the motor may be starting and stopping .

Step motors are electrical motors that are driven by digital pulses rather than a continuously applied voltage. Inherent in this concept is open-loop control, wherein a train of pulses translates into so many shaft revolutions, with each revolution requiring a given number of pulses. Each pulse equals one rotary increment, or step (hence, step motors), which is only a portion of one complete rotation.

HOW STEPPER MOTORS WORK

A step motor is an electromagnetic, rotary actuator, that mechanicallyconverts digital pulse inputs to incremental shaft rotation. The rotation not only has a direct relation to the number of input pulses, but its speed is related to the frequency of the pulses.

Between steps, the motor holds its' position (and its' load) without the aid of clutches or brakes. Thus a step motor can be precisely controlled so that it rotates a certain number of steps, producing mechanical motion through a specific distance, and then holds its load when it stops. Furthermore, it can repeat the operation any prescribed number of times. Selecting a step motor and using it advantageously depends on three criteria: desired mechanical motion, speed, and the load.

The motor has six wires, connected to two split windings as is common for unipolar stepper motors. Figure 1 shows the connection diagram for the six leads

Stepper Motor Wiring Diagram. Black and white leads are connected to the common positive supply and for clockwise rotation phases are actuated in the order: A, B, A, B, A, B, A, B,...

In use, the center taps of the windings are typically wired to the positive supply, and the two ends of each winding are alternately grounded through a drive circuit to reverse the direction of the field provided by that winding. The Motor Wiring Diagram also illustrates the order of the stator poles in the motor: A, B, A, B. This is the order in which they must be energized to cause the motor to step in a clockwise direction

MAIN DRIVING CIRCUIT

The advantage of stepper motors are: 1. 2. 3. 4.

5.

Directly compatible with digital systems. No accumulative positional errors. Provide bidirectional rotations with no additional complexities. Mechanically simple. Reliable and can be repeatedly installed without any damage.

The two main characteristics of stepper motors are synchronism and constant step size. These convert digital information and electrical power into positional information and mechanical power

Straight subroutine flow chart

SUBROUTIONE STRAIGHT

DRIVE RIGHT MOTOR IN CW DIRECTION AND LEFT MOTOR IN ACW DIRECTION

RETURN

Left subroutine flow chart

SUBROUTIONE LEFT

DRIVE RIGHT MOTOR IN CW DIRECTION

RETURN

Right subroutine flow chart

SUBROUTIONE RIGHT

DRIVE LEFT MOTOR IN CW DIRECTION

RETURN

TRUTH TABLE

SENSOR LEFT 0 0 0 0 1 1 1 1

OUTPUT CENTER 0 0 1 1 0 0 1 1 RIGHT 0 1 0 1 0 1 0 1 ACTION Rotate-CW Right Straight Right Left Deviate Left Straight

Automatic solar tracking system

AUTOMATIC SOLAR TRACKER starts following the SUN right from dawn, throughout the day, till evening, and starts all over again from dawn next day. On cloudy weathers, it remains still and catches the SUN again as it slips out of clouds. It does all this automatically, employs cheap and inexpensive components, and is very accurate.Let us see how it does all this. There are three Electronic Modules to be explained. First one is the HORIZONTAL SENSOR MODULE. It employs the timer 555 in the MONOSTABLE MODE. PIN 2(Trigger Pin of 555) is hooked up with a VOLTAGE DIVIDER NETWORK(PLEASE see FIGURE (2). PIN 4(Reset) is hooked up with ANOTHER VOLTAGE DIVIDER NETWORK.

Fig 1: Block diagram of the tracker following the sun all through

Fig 2: Horizontal sensor electronic circuit

The LDR(SAY LDR A) which is always illuminated by light through FRESNEL LENS ARRAY, has Low Resistance(in presence of light resistance of LDR decreases and vice-versa). We know V(OUT)=V(IN)*[R(bottom)]/[R(bottom)+R(top)], where R stands For Resitance. So in SUNLIGHT, when LDR As resistance Decreases, VOLTAGE AT PIN 4 Increases. TIMER is no more RESET. PIN 2 is now lower than 1/3 rd Vcc(as the horizontal LDR 1, say LDR B does not initially receive light through its rectangular slit, so its resistance is high(Rtop=8 K ohms), consequently V(OUT) is low). This triggers the timer which gives a pulse to Decade Counters Clock(14) PIN and triggers it. The Decade Counter CD 4017 gives a NORMAL STEP DRIVE pulse to the Horizontal Unipolar Stepper Motor 1(coupled to the tracker unit) to rotate the tracker position so as to receive sunlight(STEP ANGLE of 2 DEGREES). This goes on till the horizontal LDR 1 is fully in SUNLIGHT(resistance low, so PIN 2S VOLTAGE HIGH). Thus the tracker has followed the SUN Horizontally.

Fig 3: Horizontal Sensor electronic circuit

We will come to the Vertical Sensor Module, but first let us see what the DAWN LDR(SAY LDR C) does. At night the horizontal Module timer 555 remains Reset(as LDR A is in darkness so its resistance is high, thus pin 4 voltage is low, and the TRACKER points at WEST(where SUN has set). Next day when SUN rises again in the EAST, the DAWN LDR which is located at the back of the TRACKER, points at EAST. So when it receives sunlight its Resistance goes low, thus Voltage at pin 4 is high and the timer triggers the Decade Counter which in turn switches the Motor on, thus the TRACKER again moves towards the EAST. Then the TRACKER functions as previously. Now placed with the Horizontal Sensor LDR 1 is another similar LDR 2 which receives the sunlight as and when does LDR 1. SEE FIGURE 3. So now, as LDR B(THE 1st horizontal one) receives sunlight, so does Horizontal LDR 2(SEE FIGURE 1, THESE 2 LDRs are placed together with same alignment properties and separated by an optically insulated coating(from each other).Thus when Motor 1 comes to rest, and as the second horizontal LDR (SAY LDR D),is same way coupled to the second timers(of Vertical Module) Reset pin as was the ALWAYS ILLUMINATED LDR A, it brings the second timer out of its Reset mode) by the previously discussed VOLTAGE RELATIONSHIP). EYE SENSOR LDR(SAY LDR E) of the tracker receives sunlight by an Anti-Reflection Coated, small Rectangular Slit, so reacts only when SUN directly points at it. The second 555s PIN 2 is same way connected to this LDR as was the first 555s to Horizontal LDR 1. So now that it still not receives sunlight (resistance high, so Vout low) and pin 4 is no more Reset, the second CD 4017 MAKES THE SECOND

STEPPER MOTOR 2 Rotate(Coupled so as to only rotate VERTICAL SENSING BLOCK/EYE BLOCK ). This movement continues till the SUN directly points at the EYE of our TRACKER. Then the TRACKER STOPS, pointing very accurately at the SUN.FIG 2 and FIG 3 follows.

fig 4: Stepper motor control board

In figure 4 I have only shown the Horizontal Motor Control Circuit. The Vertical One uses a similar Decade Counter, NPN Transistors, Diodes(to encounter BACK EMF of Power Transistors due to Fast Switching). I chose for a Step Angle of 2 Degrees for the Unipolar Steppers. They are driven in a Normal 4 Step Sequence, first coil A is energised simultaneously with coil B ,then coil C with coil D. Thus the Motors rotate by 2 degrees each time. The Charging Interval(how long pin 3 of 555s remains high) is almost in synchronism with the steps/second speed of the motors(here 600 steps/sec.), to avoid FALSE TRIGGERING. NOTE:
1. For 555 in MONOSTABLE MODE, T=1.1*R*C. 2. For the FRESNEL LENS ARRAY , the standard FL 40(Focal Length=0.4 inches) Or FL

65(Focal Length=0.65 inches) FRESNEL LENSES could be used (with the Grooves facing the LDRs). 3. For the ANTI-REFLECTION COATING, MULTI-LAYER COATING could be used to minimize loss due to REFLECTION. By using alternating layers of a Low-Index material like SILICA and a Higher-Index material, it is possible to obtain Reflectivities as low as 0.1% at Single Wavelength. CONCLUSION: We Conclude with the ADVANTAGES of the TRACKER MODULE SYSTEM:
1. Uses SIMPLE, INEXPENSIVE ,EASY TO GET 555 timers and LDRs.

2. The whole System draws only 25 MicroAmperes of Current when the Motors are not

rotating.(555 timers off-state current req. is very less).BATTERY POWER IS SAVED. 3. The TRACKER not only follows SUN from EAST to WEST and back to EAST in a cyclic manner(Horizontal Motor Module),but also tracks the Angular Movement of the SUN with respect to its ZENITH ANGLE to the Horizon(Vertical Motor Module and EYE).This is a VERSATILE quality for which the TRACKER could easily be used in conjunction with Solar Panels to derive maximum Solar Energy. Fast Motor Response(600 steps/sec.),no FALSE TRIGGERING, a Very ACCURATE System, it requires no Programming Devices(MICROPROCESSORS or MICROCONTROLLERS), so is NOT COMPLICATED.

electronicecircuits.com is the free Encyclopedia of Electronic Circuits. It contents diagrams, electronics circuit design, software, tutorials, datasheets, pic projects and more

Home Diagrams Software Contact

6V6 6J5 Class A Vacuum Tube (Valve) Amplifier Circuit

DC Motor Clockwise Anticlockwise Control H-bridge Circuit

Bi-direction Control Circuit For DC Motor

This circuit can control direction of a DC motor. In many applications we need to operate the motor in both directions Clockwise and Anticlockwise (forward and back). One way of achieving this is to connect the motor into a Transistor H-bridge circuit arrangement. H bridge is an electronic circuit that enables a voltage to be applied across a load in either direction. These circuits are often used in robotics and other applications to allow DC motors to run forwards and backwards (Bi-directional).

PARTS LIST R1, R2, R3, R4 R5, R6, R7 D1, D2, D3, D4 D5, D6 Q1, Q2

220 1K 1N4001 LED 2SD313

Q3, Q4 PB1, PB2 M1

2SB507 PUSH BUTTON SWITCH (PUSH TO ON) 12V DC MOTOR

In this circuit normally PB1 and PB2 are open. So the bases of the transistors are grounded. Hence Q3 andQ4 are ON, Q1 and Q2 are OFF. The voltages at both the motor terminals is the same and hence the motor is OFF. Similarly when both PB1 and PB2 are PUSH the motor is OFF. When PB1 is PUSH, Q1 becomes ON since it is NPN. This type transistor needs high potential at the base to turn ON. But the Q3 is OFF. Because it is PNP and it needs to low voltage to turn on. PB2 is still OPEN so transistor Q2 OFF and Q4 ON because low potential appear at the base of the transistors. So current flow through Q1, M1 to Q4. So motor rotates one direction. When PB2 is ON and PB1 OFF similarly Q2 and Q3 are ON and Q1 and Q4 are OFF. Now current flows through Q3, M1 and Q2. Now motor rotates another direction. The diodes protect the transistors. They allow back E.M.F. to bypass the transistor. The LEDs indicate the direction of the motor rotation.

The transistors are EMITTER FOLLOWERS and the voltage on the motor will be less than the voltages of the circuit above because the output voltage will be determined by the slight drop across the 1K+220 and the voltage drop across the base-emitter junction of the transistor. The total voltage drop to the motor (due to both sides of the bridge) will be about 2v. When the both inputs high or low this emitter follower H-bridge circuit has not any current flow. It is the advantage of this circuit.

Servo motor drive amplifier

Digital ICs and opto-isolators provide the drive for this TMOS servo amplifier, resulting in fewer analog circuits and less drift. Fast and consistent turn-on and turn-off characteristics also enable accurate analog output results directly from the digital signal without the need for analog feedback. An "H" bridge configuration is employed for the servo amplifier, which obtains complementary.....