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53 - 36765 - ME593 - 2014 - 1 - 1 - 1 - DC Motors PDF
53 - 36765 - ME593 - 2014 - 1 - 1 - 1 - DC Motors PDF
• and the load in this case is the rotor inertia. The only torque
generated by the load is the friction (or damping) torque expressed
as
When the transistor is saturated, it acts as a closed switch. When a transistor is in the cutoff
region, it acts as an open switch. When it is in the active region, it acts as a current (iB)
controlled current (iC) amplifier.
Realistically, transistor switching is not instantaneous. The turn-on time tON of the transistor is
the sum of the delay time tD and the rise time tR. Similarly, the turn-off time tOFF is the sum of the
storage time tS and the fall time tF . The turn-on and turn-off time of a transistor limits the
maximum switching frequency. Typical switching frequency for a power BJT is between 2 and 20
kHz.
BJTs can switch at a higher frequency than thyristors but can handle less power. Power BJTs can
handle currents up to several hundred amperes and VCE up to about 1 kV.
• MOSFET
When operating in the enhancement mode, a MOSFET behaves very similar to a BJT. Instead
of base current, the MOSFET behavior is determined by the gate voltage. When carefully
controlling the gate voltage of a MOSFET, the transistor can be made to operate as a voltage
controlled switch that operates between the cutoff (point A) and the Ohmic (point B)
region.
One advantage of a MOSFET device is that the MOSFET has significantly larger input
impedance as compared to BJT. This simplifies the circuit that is needed to drive the
MOSFET since the magnitude of the gate current is not a factor. This also implies that a
MOSFET is much more efficient than BJTs as well as it can be switching at a much higher
frequency. Typical MOSFET switching frequency is between 20 and 200 kHz, which is an
order of magnitude higher than BJTs. Power MOSFETs can carry drain currents up to several
hundreds of amperes and VDS up to around 500 V.
Control of Direction
Reversing the PM Motor
• To reverse the rotation direction of the PM motor, the polarity of the applied
voltage must be reversed. One way to accomplish this is to have a motor-driver
amp capable of outputting a positive and negative voltage.
• When the drive voltage is positive with respect to ground, the motor turns
clockwise (CW). When the drive voltage is negative with respect to ground, the
voltage polarity at the motor terminals reverses, and the motor rotates
counterclockwise (CCW). The LM12 power op-amp is capable of providing positive
and negative output voltages.
Relays
• In many applications, the drive amplifier cannot output both positive and
negative voltages, in which case a switching circuit must be added to
reverse the motor. One approach is to use a double-pole relay . When the
relay contacts are up the positive voltage is connected to terminal A of the
motor, and terminal B is connected to the negative voltage. When the
relay contacts are down, the positive voltage is connected to terminal B,
and terminal A goes to the negative voltage, thus effectively reversing the
polarity.
H-Bridge
• Forward-reverse switching can also be done with solid-state devices using four
FETs.
• When Q1 and Q4 are on, the current I1,4 causes the motor to turn clockwise. When
Q2 and Q3 are on, the current I3,2 flows in the opposite direction and causes the
motor to turn counterclockwise. The entire
• switching operation can be performed by a single IC, such as the Allegro A3952 .
• This IC contains four separate driver transistors that are controlled by
• internal logic to operate in pairs . The A3952 controls a motor-supply voltage of up
to 50 V with up to 2 A of output current.
L293 H-bridge chip
DC Motor Drive Speed Control
DC Motor Analog Drive Speed Control
Using a single power transistor:
• The circuit could be either:
1- the common emitter (CE) configuration, which gives current and voltage gain, or
2- the common collector (CC) configuration, which gives only current gain.
• When the base voltage (VB) is increased (beyond the forward-bias voltage), the transistor
begins to turn on and let the collector current (IC) flow. The collector current is 30–100
times greater than the base current, depending on the gain of the transistor.
• Once the transistor starts to conduct, IC increases with VB more or less linearly.
• Note that all of IC goes through the motor, providing the drive current
Heating Problem with BJT
• Power transistors are physically bigger than signal transistors and are designed to carry large
currents. In control systems, they are used to provide the drive current for motors and other
electromechanical devices.
• When a transistor has a large current and voltage at the same time, the resulting power (VCIC)
must be dissipated in the form of heat. A typical power transistor is designed to operate up to
200°C (360°F) above ambient temperature. However, its power capacity is derated
proportionally for temperatures above 25°C .
• The power transistor case has a flat metal surface to provide a thermal escape path for the
heat. Therefore, to operate at anywhere near the rated power, the transistor must be
mounted firmly to the chassis or a metal heat sink—a piece of metal with cooling fins to
dissipate the heat into the air
• Many times the case itself is the collector terminal. If the collector must be kept electrically
insulated from the mounting chassis, then a special mica insulator is used, together with a
thermally conducting white grease.
Power IC Drive (LM12)
• The power IC driver is a single-package DC amplifier with a
relatively high current output. An example is the LM12
(National Semiconductor)
• The high-power operational amplifier can supply up to 13 A
with a maximum voltage of ±30 V. As in any op-amp circuit,
feedback resistors are added to adjust the gain to any desired
value.
Darlington Power Transistor Drive
• The Darlington configuration consists of two CC amplifiers connected in such a way
that the first transistor directly drives the second. Although the voltage gain is only
1 (maximum), the current gain can be very high. The transistor shown in the Figure
is a TIP 120, which has a current gain of 1000 and a maximum output current of 5
A. The motor must be placed in the emitter path of the output transistor. A
separate small-signal amplifier, probably an op-amp, would be needed to provide
any voltage gain required.
Power MOSFET
• Notice the output current (ID) is 0 A when the input voltage
(VGS) is in the 0-5-V range but then climbs to 12 A when VGS
rises to 13 V.
• Using a power MOSFET, the motor is in series with the drain,
which means the FET will provide both voltage and current
gain.
• The gate voltage is supplied from an op-amp circuit that is
designed to interface the controller with the FET.
DC Motor Control Using Pulse-Width Modulation
• Pulse-width modulation is an entirely different approach to
controlling the torque and speed of a DC motor. Power is
supplied to the motor in a square wavelike signal of constant
magnitude but varying pulse width or duty cycle.
• Duty cycle refers to the percentage of time the pulse is high
(per cycle).
PWM Control Circuits
DC-DC Converters
• The purpose of a DC-DC converter is to supply a regulated DC output voltage to a variable-load
resistance from a fluctuating DC input voltage. In many cases the DC input voltage is obtained by
rectifying a line voltage that is changing in magnitude.
• DC-DC converters are commonly used in applications requiring regulated DC power, such as
computers, medical instrumentation, communication devices, television receivers, and battery
chargers . DC-DC converters are also used to provide a regulated variable DC voltage for DC motor
speed control applications.
• The output voltage in DC-DC converters is generally controlled using a switching concept, as
illustrated by the basic DC-DC converter.
• Early DC-DC converters were known as choppers with silicon-controlled rectifiers (SCRs) used as the
switching mechanisms.
• Modern DC-DC converters classified as switch mode power supplies (SMPS) employ insulated gate
bipolar transistors (IGBTs) and metal oxide silicon field effect transistors (MOSFETs).
• The switch mode power supply has several functions :
1. Step down an unregulated DC input voltage to produce a regulated DC output voltage using a buck
or step-down converter.
2. Step up an unregulated DC input voltage to produce a regulated DC output voltage using a boost or
step-up converter.
3. Step down and then step up an unregulated DC input voltage to produce a regulated DC output
voltage using a buck–boost converter.
4. Invert the DC input voltage using a Cúk converter.
5. Produce multiple DC outputs using a combination of SMPS topologies.
• DC-DC conver DC-DC converter voltage waveforms.
• DC-DC conver
environments
Maintenance free, long Robotics
Expensive and
Brushless