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Actuatos
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Solenoids
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Most Common Solenoid Types
Pull Push Open-Frame Rotary
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ThePermanent Magnet DC Motor
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DC motor- theoryofoperation
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Torque vs. Speed Power vs. Torque
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DC Motor Specifications
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Basiccontrol
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Poweroperationalamplifier
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H bridge
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Bangchnly
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Relayoperation
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PWMcontrol
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DC Motor Drive Simulation +V12V
Ext File
0/0V2N3055
1.2mH
50
11.4
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Transistor Current
0 167u 333u 500u 667u 833u 1m-40m
143m
326m
510m
694m
877m
1.06
Ref=Ground X=167uS/Div
Current(A)
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Collector Voltage
0 167u 333u 500u 667u 833u 1m
29.4
68.1
107
146
184
223
Ref=Ground X=167uS/Div
0
Volt
s
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Diode Snubber
+V12V
Ext File
0/0V 2N3055
1.2mH DIODE
50
11.4
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+V
12V
Ext File
0/0V 2N3055
1.2mHDIODE
ZENER
50
11.4
Diode + Zener Diode Snubber
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BJTelectronicschematics
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L293D specification
y L293D is H Bridge for DC motor
y Current load is up to 600mA , 1.2A.
y Integrated protective diodes
y Operating voltage 4.5V to 36V
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Circuit
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L298
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Disadvantage L298 Loss voltage on IC
(1W/1A)
With proper heatsink
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Bigger DC motor
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Continue
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DC motor brake
y Dynamic brakingy Regenerative braking.y Reversing polarity braking
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S dng in tr shunt
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in tr shunt
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Vd mch shunt
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DC motorclosed loop control
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Transferfunction
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Openedloopresponse
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Closedloopresponse
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Controloverview
www.engin.umich.edu\group\ctm\index.html
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Cascadecontrolscheme
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AnalogPID
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Digital PID
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StepperMotors
Cleverness with Magnets and Coils
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Stepper motor
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Attentiononstepper motor
y Opened loop position control
y Stepped missing due to the distubanced force
y Precised stopping position
yOperating voltage: 12VDC, 7.5VDC, 3.6VDC
y Operation current 1A, 4.5A..
y Step: 1.8, 3.6, 7.5, 15
y Power - Moment
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ThePermanentMagnet (PM)Stepper
Motor
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StepperMotorWiring
1 23 45 6
c
d
e
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Bipolarstepper motor
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Unipolarstepper motor
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DrivingStepperMotors
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StepperSequences: FullStep
V+
V+
Gnd
GndS
N
S
NS
N
S
N
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DrivingFullStep
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Driving:Half-Step
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2phasefullstep
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Simplecontrolcircuits
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With microcontroller
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UCN 5804B
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Increse momentonhighspeed
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Seriesresistor
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WithPWM
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Thepracticalcircuits
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Highlevelcontrol
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BLDC motor
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BLDC structure
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Interalview
a) b) c)
Rotor ca ng c BLDCa Nam chm b tr trn b mt li rotor .
b Nam chm hnh ch nht t trong li rotor .c Nam chm hnh ch nht trn trong li rotor.
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Operation
cun dyStator
trc truynngnam chm
cm bin Hall
cc cm binHall
trc ph
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Swichingtable
Pha c cpin
Cng tc ng
A-B SW1; SW4
A-C SW1;SW6
B-C SW3; SW6
B-A SW3; SW2
C-A SW5; SW2
C-B SW5; SW4
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SpeedcontrolusingPWM
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ControlcircuitAT90PWM3
Cu chuynmch + intr Shunt
PSCOUT
PCS00PCS10PCS20
PCS01
PCS21
PCS11
PSCIN
AMP1+;AMP1-ACMP0ACMP1
ACMP2
Tn hiuqudngPhn hi dngin
Tn hiu t cmbin Hall A
Tn hiu t cmbin Hall C
Tn hiu t cmbin Hall B
Pha A
Pha B
Pha Cng c
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Realworldcircuit
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Somepicture
B h d B hl DC M
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Brushed vs. Brushless DC Motors
Brushed Motor Brushless Motor
Mechanical Structure Field Magnets on statorWindings on Rotor
Field Magnets on RotorWindings on stator
Commutation MethodMechanical contact between
brushes and commutatoradded friction, brush debris,RFI
Electronic switching using transistorslow frequency harmonics due to ripple
Rotor Position Detection Automatically detected bybrushes Hall Element, optical encoder, BackEMF
Reversing Method Reverse terminal voltage Rearrange logic sequencer
Distinctive FeaturesQuick responseExcellent controllabilityCurrent limited by
brush/commutator interfaceSpeed limited by brush bounce
Long LastingEasy or no maintenanceCurrent limited by winding resistanceonly
No fundamental high frequency(speed) limitUsually more efficient than brushed
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AC motor
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TheoryofOperation
y The rotor is pulled around because it is attracted to the
sequentially energized poles.
y The AC motor also works by rotating the stator field, but it
makes use of the natural alternating nature of the AC wave to
turn the field coils on and off sequentially.
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SquirrelcageAC motor
y However, when AC power is applied to the stator windings
and the stator field starts rotating,
y As the stator field rotates past an individual bar, the field
strength in the bar rises and falls.This changing magnetic
field induces a voltage in the bar, and the voltage causes a
current to flow.
y The current flows through the bar causes the bar to have a
magnetic field, so interacting with the rotating stator field,
that produces the mechanical torque
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Startandstopcircuit
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Variable-Frequency (V/Hz) Drives
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Outputwaveform
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