DC Motor

Presented by
SRIKANT PATI
CENTRAL TOOL ROOM AND TRAINING
CENTER

Example of Different Motors
DC (brushed)

Stepper

RC Servo

Solenoid
DC (brushed) Motor
DC (brushed)

Stepper

RC Servo

Solenoid
Workhorse, high power
Simple to use, two wires
Torque proportional to
current, steady state
constant-load speed
proportional to voltage
Requires gearing
Requires feedback
Stepper Motors
DC (brushed)

Stepper

RC Servo

Solenoid

Useful for low-torque
applications with no
surprises
No feedback required
One step per pulse
More involved driving circuit

RC Servo Motors
DC (brushed)

Stepper

RC Servo

Solenoid

High torque, useful for
positioning applications
Feedback and gearing built in
Position commanded by
persistent pulse train
Limited motion (less than 1
revolution)
Solenoid

DC (brushed)

Stepper

RC Servo

Solenoid



For on-off applications
Simple to use
Short stroke
Powered in only one
direction; requires external
spring for return
DC Motors
Lorentz Force Law:
F = I x B

F = force on wire
I = current
B = magnetic field

Right hand rule:
index finger along I,
middle finger along B,
thumb along F
N S
Inside a DC Motor
DC Motors
V = IR + L (dI/dt) + k
e
w
t = k
t
I

V voltage
I current
R resistance
L inductance
w speed
t torque
k
e
electrical constant
k
t
torque constant
2 - permanent magnet
3 - housing (magnetic return)
4 - shaft
5 - winding
w
t
speed-torque curves
for two voltages
DC Motor Specs
Driving a DC Motor
Switches and relays
Transistors
Linear push-pull stage with op amp
Ideally: H-bridge and PWM

H-bridge and PWM
PWM: Rapidly switch between
S1-S4 closed and S2-S3 closed

Averages to effective voltage
across motor between -V and
+V depending on time spent in
S1-S4 and S2-S3 states

Switch control signals are simply
digital signals

Use an H-bridge chip or build out
of transistors
L293 H-bridge chip
Practical Issues
flyback diodes for inductive kick
heat sinks for transistors
capacitors to smooth voltage spikes
other noise issues, isolation

Gears
Gear ratio G
w
out
= w
in
/ G
t
out
= h G t
in
(h = efficiency)

Many types
spur, planetary, worm, lead/ball screw, bevel,
harmonic...
Encoder Feedback
Another option:
potentiometer
US Digital
Feedback Control
Proportional (Integral-Derivative) Control
Multiply position/velocity error by a gain to get control
signal (and perhaps add integral and derivative of
that error multiplied by other gains)

Usually implemented on computer

Can be implemented with op amps
Stepper Motor
Bipolar: 4 wires





Unipolar: 5 or 6 wires
+V
alternately ground one
end of coil or other
1 4 2 3
A B
A B
R R
R
R L
L
L L
L
L R
R
R
L
Animation of Unipolar
Taken from http://www.cs.uiowa.edu/~jones/step/
Driving a Stepper
Use logic on/off signals at 2, 7, 10, 15.
RC Servo Motor
3 wires: power, ground, control

Control signal sets the position.

High pulse every ~20 ms determines
set angle; pulse width between
~0.5 ms and ~2 ms, indicating the
two ends of angle range

Internal gearing, potentiometer, and
feedback control.
Solenoid
Plunger attracted or repelled by current
through a coil.

May be driven by a relay or transistor.