Motors convert electrical energy to mechanical motion. There are several types of motors used in robotics, including AC motors, DC motors, DC servo motors, and stepper motors. Stepper motors are used in the CEENBot and offer advantages over DC motors like accurate wheel positioning, high holding torque, and open-loop speed control without position feedback. A stepper motor works by digitally switching electromagnets around a permanent magnet rotor to precisely rotate it through a sequence of steps.
A reluctance motor is a type of electric motor that induces non-permanent magnetic poles on the ferromagnetic rotor. The rotor does not have any windings. It generates torque through magnetic reluctance.
Reluctance motor sub types include synchronous, variable, switched and variable stepping.
Reluctance motors can deliver high power density at low cost, making them attractive for many applications. Disadvantages include high torque ripple (the difference between maximum and minimum torque during one revolution) when operated at low speed, and noise due to torque ripple.
A reluctance motor is a type of electric motor that induces non-permanent magnetic poles on the ferromagnetic rotor. The rotor does not have any windings. It generates torque through magnetic reluctance.
Reluctance motor sub types include synchronous, variable, switched and variable stepping.
Reluctance motors can deliver high power density at low cost, making them attractive for many applications. Disadvantages include high torque ripple (the difference between maximum and minimum torque during one revolution) when operated at low speed, and noise due to torque ripple.
Advantages and Disadvatages of AC/DC MotorFika Khamis
Simple explanation on advantages and disadvantages of AC and DC motor. Focusing on main point only since the slides is for presentation. Originally design by me.
In this presentation, Lin Engineering will cover common stepper motor applications, issues that can arise within those applications, and stepper modifications that can help resolve those problems. Stepper motors are used in a multitude of applications in many different industries. Steppers can be applied to printers, robotics, security cameras, conveyor belts and aircraft in industries like automation, medical, surveillance, and renewable energy just to name a few.
Each application is unique and the stepper motor must adapt to each situation. Due to the mechanical and environmental requirements from each system, a number of issues and failures can arise when stepper motors are introduced into such applications. Lin Engineering will discuss the root causes of issues like vibration, excessive heat, Back EMF, inertia mismatch and step loss that are seen while using a stepper motor. Lin Engineering will also explain how to resolve the problems through modifications and describe the effects of adding gearboxes, encoders, lead screws, vacuum and additional environmental modifications to a stepper motor.
Why to Watch:
Learn what modifications are required of stepper motors in certain applications.
Learn what common issues arise from different applications.
Learn what applications a stepper motor can be applied to.
Learn how to resolve common application issues through stepper modifications.
Advantages and Disadvatages of AC/DC MotorFika Khamis
Simple explanation on advantages and disadvantages of AC and DC motor. Focusing on main point only since the slides is for presentation. Originally design by me.
In this presentation, Lin Engineering will cover common stepper motor applications, issues that can arise within those applications, and stepper modifications that can help resolve those problems. Stepper motors are used in a multitude of applications in many different industries. Steppers can be applied to printers, robotics, security cameras, conveyor belts and aircraft in industries like automation, medical, surveillance, and renewable energy just to name a few.
Each application is unique and the stepper motor must adapt to each situation. Due to the mechanical and environmental requirements from each system, a number of issues and failures can arise when stepper motors are introduced into such applications. Lin Engineering will discuss the root causes of issues like vibration, excessive heat, Back EMF, inertia mismatch and step loss that are seen while using a stepper motor. Lin Engineering will also explain how to resolve the problems through modifications and describe the effects of adding gearboxes, encoders, lead screws, vacuum and additional environmental modifications to a stepper motor.
Why to Watch:
Learn what modifications are required of stepper motors in certain applications.
Learn what common issues arise from different applications.
Learn what applications a stepper motor can be applied to.
Learn how to resolve common application issues through stepper modifications.
Content:
Introduction to Stepper Motors
Types of Stepper Motors
Main components of a stepper motor
How do these components work together
Control sequence to turn a stepper motor
Advantages and disadvantages of stepper motors
Practical Applications of stepper motor
Step Angle
Summary
For more information Email us:
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xubair khan
Stepper Motor Types, Advantages And Applicationselprocus
A stepper motor is an electromechanical device which converts electrical pulses into discrete mechanical movements. The shaft or spindle of a stepper motor rotates in discrete step increments when electrical command pulses are
applied to it in the proper sequence. The motors rotation has several direct relationships to these applied input pulses. The sequence of the applied pulses is directly related to the direction of motor shafts rotation. The speed of the
motor shafts rotation is directly related to the frequency of the input pulses and the length of rotation is directly related to the number of input pulses applied.
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3. OverviewOverview
Motors in context of robotics, different types of
robots have different types of motors
Overview of motor types / characteristics
◦ Motors convert electric energy to mechanical force /
motion
◦ Motor parameters: AC or DC power source, torque,
speed
◦ Industrial robotics: AC servo motor
◦ Mobile robotics & Hobby robots: dc motor, dc servo
motor, and stepper motors
Principle of operation of a DC motor
◦ Inside a DC motor
Principle of operation of stepper motors
◦ Performance advantages of stepper motor over DC
motor and DC servo motor
CEENBot stepper motor operation/control
4. Motor BasicsMotor Basics
Motors convert electric energy to
mechanical motion.
Either an AC or DC electrical energy
source serves as the input to the motor.
The result is mechanical motion of the
output shaft, that is a rotation about or a
translation along the shaft, provided the
load carried by the shaft does not exceed
the maximum load the motor is designed
to carry.
5. Choosing a MotorChoosing a Motor
There are numerous ways to design a motor,
thus there are many different types of
motors.
The type of motor chosen for an application
depends on the characteristics needed in
that application.
These include:
◦ How fast you want the object to move,
◦ The weight, size of the object to be moved,
◦ The cost and size of the motor,
◦ The accuracy of position or speed control needed.
6. Motor ParametersMotor Parameters
The level of performance a motor can provide
is described by its parameters. These
include:
Rated Speed
◦ Speed measured in shaft revolutions per minute
(RPM)
Torque
◦ Rotational force produced around a given point, due
to a force applied at a radius from that point,
measured in lb-ft (or, oz-in).
HorsePower = Speed x Torque / 5252.11...
◦ A measure of work expended: 1 HP = 33,000 foot-
pounds per minute.
Torque-Speed performance of a motor
7. Types of MotorsTypes of Motors
The different types of motors possess
different operating characteristics.
◦ Heavy Industrial applications: AC motors
◦ Mobile robotics & hobby robots: dc motor, dc servo
motor, and stepper motors
Brief overview of the operation
characteristics of:
◦ AC motors
◦ DC motors
◦ DC servo motors
◦ Stepper motors
8. AC Motor CharacteristicsAC Motor Characteristics
When power is applied, AC motors turn in
one direction at a fixed speed.
Both reversable and non-reversable models
available
Usually high voltage (110V AC and up)
Inexpensive and commonly available
Optimized to run at a fixed, usually high
RPM.
If the applied load is greater than the
capacity of the motor, the motor will stall and
possibly burn out.
9. DC Motor CharacteristicsDC Motor Characteristics
When power is applied, DC motors turn in one direction
at a fixed speed.
They are optimized to run at a fixed, usually high RPM.
Torque is highest at the rated speed and lowest at low
speeds.
Speed can be varied if a (pulse width modulation) PWM
controller is added.
Almost all can be reversed.
Inexpensive and commonly available.
Available in wide range of speeds and power.
Suitable for turning, spinning, etc.
Not suitable for positioning unless some kind of position
feedback is added.
If the applied load is greater than the capacity of the
motor, the motor will stall and possibly burn out.
10. DC Servo MotorsDC Servo Motors
Servo motor requirements may include control of acceleration,
velocity, and position to very close tolerances and allow for fast
starts, stops and reversals, and very accurate control.
DC servo motors consist of a DC motor combined with feedback
for either position or speed.
A system with a motor, feedback, and a controller which
constantly adjusts the position or speed to in reaction to the
feedback is called a closed-loop system
Hobby Servos require a desired position signal to tell them where
to turn to.
Once told where to go, a Hobby Servo uses its built-in controller
and feedback system to hold its position.
When power is applied, in the absence of a signal, a hobby servo
goes to its central position
The signal to control a hobby servo is non-trivial to generate.
Hobby servos can also be modified to turn continuously, in which
case the control signal is speed instead of position
11. Stepper MotorsStepper Motors
Requires a separate controller circuitry or it will
not turn when power is applied.
Inexpensive and commonly available, especially
in salvaged computer equipment
Precise positioning is possible by keeping count
of steps requested, even without feedback.
Torque is highest at the full stop and decreases
as speed is increased.
If the applied load is greater than the capacity of
the motor, the motor may not step, thereby
making precise positioning no longer possible.
12. DC Electric MotorsDC Electric Motors
Electric Motors or Motors convert electrical energy
to mechanical motion
Motors are powered by a source of electricity – either
AC or DC.
DC Electric Motors use Direct Current (DC) sources
of electricity:
◦ Batteries
◦ DC Power supply
Principle of How Motors Work:
Electrical current flowing in a loop of wire will produce
a magnetic field across the loop.
When this loop is surrounded by the field of another
magnet, the loop will turn, producing a force (called
torque) that results in mechanical motion.
13. Motor BasicsMotor Basics
Motors are powered by electricity, but rely
on principles of magnetism to produce
mechanical motion.
Inside a motor we find:
◦ Permanent magnets,
◦ Electro-magnets,
◦ Or a combination of the two.
14. MagnetsMagnets
◦ A magnet is an object that possesses a
magnetic field, characterized by a North and
South pole pair.
◦ A permanent magnet (such as this bar
magnet) stays magnetized for a long time.
◦ An electromagnet is a magnet that is created
when electricity flows through a coil of wire. It
requires a power source (such as a battery) to
set up a magnetic field.
15. A Simple ElectromagnetA Simple Electromagnet
A Nail with a Coil of Wire
Q – How do we set up a magnet?
A – The battery feeds current through the coil of
wire. Current in the coil of wire produces a
magnetic field (as long as the battery is
connected).
16. A Simple ElectromagnetA Simple Electromagnet
A Nail with a Coil of Wire
Q - How do we reverse the poles of this
electromagnet?
A – By reversing the polarity of the
battery!
+ -
S N
17. The Electromagnet in a StationaryThe Electromagnet in a Stationary
Magnetic FieldMagnetic Field
If we surround the electromagnet with a stationary magnetic
field, the poles of the electromagnet will attempt to line up
with the poles of the stationary magnet.
The rotating motion is transmitted to the shaft, providing
useful mechanical work. This is how DC motors work!
OPPOSITE
POLES
ATTRACT!
18. DC Motor Operation PrinciplesDC Motor Operation Principles
Once the poles align, the nail (and shaft) stops rotating.
How do we make the rotation continue?
By switching the poles of the electromagnet. When they line up
again, switch the poles the other way, and so on.
This way, the shaft will rotate in one direction continuously!
20. How the Commutator WorksHow the Commutator Works
As the rotor turns, the commutator terminals
also turn and continuously reverse polarity of
the current it gets from the stationary
brushes attached to the battery.
21. Controlling Motor DirectionControlling Motor Direction
To change the direction of rotation:
◦ Simply switch the polarity of the battery leads
going to the motor (that is, switch the + and –
battery leads)
+
-
-
+
CW CCW
Direction of
Rotation
22. Inside a Toy MotorInside a Toy Motor
(Similar to TekBot Motor)(Similar to TekBot Motor)
23. Advantages of Stepper MotorAdvantages of Stepper Motor
The DC motors on the TekBot offer limited
speed control and low torque.
The CEENBot uses a stepper motor for each
wheel.
The stepper motors on the CEENBot enables
accurate wheel positioning with high holding
torque and allows for open-loop speed
control (wheel position feedback is not
required).
24. Stepper Motor OperationStepper Motor Operation
A stepper motor consists of:
◦ A permanent magnet rotating shaft (or rotor)
◦ Electromagnets on the stator – the stationary portion
that surrounds the motor
The stepper motor moves as the permanent rotor
magnet attempts to line up with the poles of the
electromagnets on the stator.
The electromagnets are digitally switched to
change their pole orientation, which when done
in a sequence produces continuous rotation of
the rotor, or can be controlled to give precise
rotation to a desired angular position.
25. The smallest step of angular rotation a
stepper motor can make is called its
resolution.
Unlike the example, which had 90 degrees
per step resolution, real motors employ a
series of mini-poles on the stator and
rotor to increase resolution.
26. Because the rotor is fixed by the magnetism
in the stationary condition as shown, the
stationary power (Stationary torque) is large.
It suits the use to make stop at some angle.
◦ The CEENBot can better hold its position on a ramp.
Speed control is achieved by digitally cycling
through the phases at a desired speed of
rotation.
A microprocessor is used to reverse the
current after each step, which changes the
poles of the corresponding electromagnets.