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Motor Tutorial Kevin M. Lynch  Laboratory for Intelligent Mechanical Systems Northwestern University Evanston, IL  USA
Types of Motors ,[object Object],[object Object],[object Object],[object Object]
Types of Motors ,[object Object],[object Object],[object Object],[object Object],Workhorse, high power Simple to use, two wires Torque proportional to current, steady state constant-load speed proportional to voltage Requires gearing Requires feedback
Types of Motors ,[object Object],[object Object],[object Object],[object Object],Useful for low-torque applications with no surprises No feedback required One step per pulse More involved driving circuit
Types of Motors ,[object Object],[object Object],[object Object],[object Object],High torque, useful for positioning applications  Feedback and gearing built in Position commanded by persistent pulse train Limited motion (less than 1 revolution)
Types of Motors ,[object Object],[object Object],[object Object],[object Object],For on-off applications Simple to use Short stroke Powered in only one direction; requires external spring for return
DC Motors ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],N S
Inside a DC Motor
DC Motors ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],  speed-torque curves for two voltages 2 - permanent magnet 3 - housing (magnetic return) 4 - shaft 5 - winding
DC Motor Specs
Driving a DC Motor ,[object Object],[object Object],[object Object],[object Object]
H-bridge and PWM ,[object Object],[object Object],[object Object],[object Object]
L293 H-bridge chip
Practical Issues ,[object Object],[object Object],[object Object],[object Object]
Gears ,[object Object],[object Object],[object Object],[object Object],[object Object]
Encoder Feedback Another option: potentiometer US Digital
Feedback Control ,[object Object],[object Object],[object Object],[object Object]
Stepper Motor ,[object Object],[object Object],+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 fro m http://www.cs.uiowa.edu/~jones/step/
Driving a Stepper Use logic on/off signals at 2, 7, 10, 15.
RC Servo Motor ,[object Object],[object Object],[object Object],[object Object]
Solenoid ,[object Object],[object Object]

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