Motors & Motor Drivers

ECE 450

1
 AC or DC Motors
• AC
– Few robots use AC except in factories
– Most of those that use AC first convert to DC
• DC
– Dominates in robotics
– Must be bidirectional

2
 DC Motor Types

• Continuous-duty
(run continuously when power supplied)
– Brushed
– Brushless
– Servo
• Intermittent-duty
(power must be pulsed to run continuously)
– Stepper Motors

3
 Motor Specifications & Cosinderation

• Operating voltage
• Current draw
• Speed
• Torque
• Load enertia
• Stalling or Running Torque

4
DC Motor: Brush Motors
The most common.
Toys, battery powered tools, electric machines.

Stator (permanent magnets)

Brushes

5
 Brush DC Motors

Identify:
• Stator
• Rotor
• Brushes
• Communtator

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http://mot-sps.com/motor/tutorial/blac.html
Brush DC Motor
How does it work?

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Pulse Width Modulation
(PWM)

Centered PWM

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 Brushless DC Motor

Identify:
• Permanent Magnets
• Rotor
• Brushes
• Communtator

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http://mot-sps.com/motor/tutorial/blac.html
 Brushless DC Motor

1. Housing
2. Laminated steel stack
1 6 6
3. Winding
4. Permanent magnet
5. Shaft
2
6. Ball bearing
5 3

Less common. Higher efficiency, less friction, less electrical noise.

Requires electronic driver.

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Brushless DC Motor
How does it work?

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 DC Servo Motor

A DC Servo Motor is a DC Motor with

Gears and Electronics with limited
angular rotation (typically 90, 180 or 360º)

Why the addition of gears?

• Nylon
• Karbonite
• Metal

Why electronics?
• Digital
• Analog

http://www.societyofrobots.com/actuators_servos.shtml
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 DC Servo Motor
1

0
1.00 ms: 0 degrees

0.00 ms

0.50 ms

1.00 ms

1.50 ms

2.00 ms
Requires constant pulsing
( 50 times / second)

1.50 ms: Neutral

0
0.00 ms

0.50 ms

1.00 ms

1.50 ms

2.00 ms

2.00 ms: 180 degrees

0
0.00 ms

0.50 ms

1.00 ms

1.50 ms

2.00 ms

http://www.seattlerobotics.org/guide/servos.html
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 Stepper Motor
Very common. Required driver. Very strong, when not rotating.
Easy to control rotor position.

Full Step Half Step

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http://mot-sps.com/motor/tutorial/blac.html
 Full-Step Stepper Motor
1

11

15
 Half-Step Stepper Motor
1

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 Motor Drivers
Simple, 1- dc motor (brushes), on/off driver
+9 V

M1 D1
DC Brush M 1N5817
(Schottky)

Q1 B
On: to +9 V
2222A
Off: to GND or
(NPN) R1
E disconnected
1 k

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 Transistors

PNP Bipolar Transistor

C

NPN Bipolar Transistor

C

http://www.kilowattclassroom.com/Archive/AN0007.pdf
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 Motor Drivers
Simple, 1-motor, on/off driver

+9 V

R2
E
Q2 1 k On: to GND or
B disconnected
2907A
(PNP) Off: to +9 V
C

M1 D1
DC Brush M 1N5817
(Schottky)

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 Motor Drivers
Classic Bipolar H-Bridge
On: to GND or On: to GND or
disconnected +9 V +9 V disconnected
Off: to +9 V Off: to +9 V

R4 E E R2
1 k D4 D2 1 k
1N5817 1N5817
B (Schottky) (Schottky) B
Q4 C C
2907A Q2
(PNP) 2907A
(PNP)

M
Q3 Q1
2222A 2222A
(NPN) M1
R3 DC Brush (NPN) R1
C D1 C
1 k D3 1 k
B 1N5817 1N5817
B
(Schottky) (Schottky)

E E

On: to +9 V On: to +9 V
Off: to GND or Off: to GND or
disconnected disconnected
Taken from Intermediate Robot Building by David Cook 20
 Motor Drivers
Classic Bipolar H-Bridge

+9 V

R4 E E R2
1 k D4 D2 1 k
1N5817 1N5817
B (Schottky) (Schottky) B
Q4 C C
from 1 NC 8 2907A Q2
NC
microcontroller (PNP) 2907A
4427

2 IN A OUT A 7 (PNP)

GND 3 GND VDD 6 M

Q3 Q1
4 IN B OUT B 5 2222A
from M1 2222A
microcontroller (NPN) (NPN)
R3 C DC Brush D1 C R1
1 k D3 1 k
B 1N5817 1N5817 B
(Schottky) (Schottky)

E E

Taken from Intermediate Robot Building by David Cook 21

 Motor Drivers
Typical H-Bridge Motor Driver

+5 VDC

220 F 0.1 F

Disconnected or
from microcontroller 1 ENABLE A&B VLOGIC 16

From microcontroller 2 INPUT A INPUT C 15 From microcontroller

3 OUTPUT C 14

SN754410
OUTPUT A

4 GND GND 13
M1 M2
DC Brush M M DC Brush
5 GND GND 12

OUT B 6 OUTPUT B OUTPUT D 11

from
microcontroller 7 INPUT B INPUT D 10 From microcontroller

+4.5 to +36 VDC 8 VMOTOR ENABLE C&D 9 Disconnected or

from microcontroller
220 F 0.1 F

Taken from Intermediate Robot Building by David Cook 22

 H-Bridge Lab
Components
1. Construct the H-Bridge as shown using components from your Robotics Kit.
2. Identify those configurations that short circuit the H-Bridge and on the
enclosed table enter “Short Circuit” under the Results column
3. Show this table to either the Instructor or the TA before proceeding any further.
4. Using your H-Bridge, determine how the motor performs under each of the 16
different combinations of the four transistors
– DO NOT verify the short circuit combinations identified earlier!
– Pay attention to the transistor numbering in the table compared to the schematic.
– Be sure to identify whether or not the motor turns clockwise or counterclockwise
– For any breaking actions, identify which direction the motor is turning when breaking occurs.
(In some configurations, breaking only occurs when the motor is turning in one direction but
not the other.)
5. Lab Report
– To drive larger motors, an H-Bridge with higher capacity currents would be required. Using
the components in this lab, determine the component(s) that limit the current for driving a dc
motor. Describe your analysis and results in your lab report.
– Include the table showing your results for the 16 different combinations for powering the H-
Bridge.

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 Motor Drivers
Classic Bipolar H-Bridge
On: to GND or On: to GND or
disconnected +9 V +9 V disconnected
Off: to +9 V Off: to +9 V

R4 E E R2
1 k D4 D2 1 k
1N5817 1N5817
B (Schottky) (Schottky) B
Q4 C C
2907A Q2
(PNP) 2907A
(PNP)

M
Q3 Q1
2222A 2222A
(NPN) M1
R3 DC Brush (NPN) R1
C D1 C
1 k D3 1 k
B 1N5817 1N5817
B
(Schottky) (Schottky)

E E

On: to +9 V On: to +9 V
Off: to GND or Off: to GND or
disconnected disconnected
Taken from Intermediate Robot Building by David Cook 24
 H-Bridge Test Results
# Q4 Q3 Q2 Q1 RESULT
1 Off Off Off Off
2 Off Off Off On
3 Off Off On Off
4 Off Off On On
5 Off On Off Off
6 Off On Off On
7 Off On On Off
8 Off On On On
9 On Off Off Off
10 On Off Off On
11 On Off On Off
12 On Off On On
13 On On Off Off
14 On On Off On
15 On On On Off
16 On On On On

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