Lecture 16 - NYU Tandon School of...
Transcript of Lecture 16 - NYU Tandon School of...
![Page 1: Lecture 16 - NYU Tandon School of Engineeringengineering.nyu.edu/mechatronics/smart/pdf/lectures/LECT16_17.pdfSMART Funded by The National Science Foun dation DC Motor Direction Control](https://reader033.fdocuments.in/reader033/viewer/2022050502/5f9491360470850c8c394414/html5/thumbnails/1.jpg)
Lecture 16
![Page 2: Lecture 16 - NYU Tandon School of Engineeringengineering.nyu.edu/mechatronics/smart/pdf/lectures/LECT16_17.pdfSMART Funded by The National Science Foun dation DC Motor Direction Control](https://reader033.fdocuments.in/reader033/viewer/2022050502/5f9491360470850c8c394414/html5/thumbnails/2.jpg)
SMART Funded by The National Science FounSMART Funded by The National Science Foundationdation
DC Motor Direction Control
• Half Bridge– 2 switches and 2 power sources
• H-Bridge– 4 switches and 1 power sources
![Page 3: Lecture 16 - NYU Tandon School of Engineeringengineering.nyu.edu/mechatronics/smart/pdf/lectures/LECT16_17.pdfSMART Funded by The National Science Foun dation DC Motor Direction Control](https://reader033.fdocuments.in/reader033/viewer/2022050502/5f9491360470850c8c394414/html5/thumbnails/3.jpg)
SMART Funded by The National Science FounSMART Funded by The National Science Foundationdation
Half Bridge 1
Switch
![Page 4: Lecture 16 - NYU Tandon School of Engineeringengineering.nyu.edu/mechatronics/smart/pdf/lectures/LECT16_17.pdfSMART Funded by The National Science Foun dation DC Motor Direction Control](https://reader033.fdocuments.in/reader033/viewer/2022050502/5f9491360470850c8c394414/html5/thumbnails/4.jpg)
SMART Funded by The National Science FounSMART Funded by The National Science Foundationdation
Half Bridge 1
Switch
![Page 5: Lecture 16 - NYU Tandon School of Engineeringengineering.nyu.edu/mechatronics/smart/pdf/lectures/LECT16_17.pdfSMART Funded by The National Science Foun dation DC Motor Direction Control](https://reader033.fdocuments.in/reader033/viewer/2022050502/5f9491360470850c8c394414/html5/thumbnails/5.jpg)
SMART Funded by The National Science FounSMART Funded by The National Science Foundationdation
Half Bridge 2
NPN BJT
![Page 6: Lecture 16 - NYU Tandon School of Engineeringengineering.nyu.edu/mechatronics/smart/pdf/lectures/LECT16_17.pdfSMART Funded by The National Science Foun dation DC Motor Direction Control](https://reader033.fdocuments.in/reader033/viewer/2022050502/5f9491360470850c8c394414/html5/thumbnails/6.jpg)
SMART Funded by The National Science FounSMART Funded by The National Science Foundationdation
H-Bridge 1
Switch
![Page 7: Lecture 16 - NYU Tandon School of Engineeringengineering.nyu.edu/mechatronics/smart/pdf/lectures/LECT16_17.pdfSMART Funded by The National Science Foun dation DC Motor Direction Control](https://reader033.fdocuments.in/reader033/viewer/2022050502/5f9491360470850c8c394414/html5/thumbnails/7.jpg)
SMART Funded by The National Science FounSMART Funded by The National Science Foundationdation
H-Bridge 2
Switch
![Page 8: Lecture 16 - NYU Tandon School of Engineeringengineering.nyu.edu/mechatronics/smart/pdf/lectures/LECT16_17.pdfSMART Funded by The National Science Foun dation DC Motor Direction Control](https://reader033.fdocuments.in/reader033/viewer/2022050502/5f9491360470850c8c394414/html5/thumbnails/8.jpg)
SMART Funded by The National Science FounSMART Funded by The National Science Foundationdation
H-Bridge 3
Switch
![Page 9: Lecture 16 - NYU Tandon School of Engineeringengineering.nyu.edu/mechatronics/smart/pdf/lectures/LECT16_17.pdfSMART Funded by The National Science Foun dation DC Motor Direction Control](https://reader033.fdocuments.in/reader033/viewer/2022050502/5f9491360470850c8c394414/html5/thumbnails/9.jpg)
SMART Funded by The National Science FounSMART Funded by The National Science Foundationdation
H-Bridges with NPN BJT 1
Pin5 Pin6 Motor Notes
High Low forward
Low High backward
Low Low No motion
High* High* * Forbidden
![Page 10: Lecture 16 - NYU Tandon School of Engineeringengineering.nyu.edu/mechatronics/smart/pdf/lectures/LECT16_17.pdfSMART Funded by The National Science Foun dation DC Motor Direction Control](https://reader033.fdocuments.in/reader033/viewer/2022050502/5f9491360470850c8c394414/html5/thumbnails/10.jpg)
SMART Funded by The National Science FounSMART Funded by The National Science Foundationdation
H-Bridges with NPN BJT 2
NPN NPN
PNPPNP
TIP42: PNP
TIP120: NPN
12V
![Page 11: Lecture 16 - NYU Tandon School of Engineeringengineering.nyu.edu/mechatronics/smart/pdf/lectures/LECT16_17.pdfSMART Funded by The National Science Foun dation DC Motor Direction Control](https://reader033.fdocuments.in/reader033/viewer/2022050502/5f9491360470850c8c394414/html5/thumbnails/11.jpg)
SMART Funded by The National Science FounSMART Funded by The National Science Foundationdation
H-Bridge : How It Works
Set High
Set Low
![Page 12: Lecture 16 - NYU Tandon School of Engineeringengineering.nyu.edu/mechatronics/smart/pdf/lectures/LECT16_17.pdfSMART Funded by The National Science Foun dation DC Motor Direction Control](https://reader033.fdocuments.in/reader033/viewer/2022050502/5f9491360470850c8c394414/html5/thumbnails/12.jpg)
SMART Funded by The National Science FounSMART Funded by The National Science Foundationdation
H-Bridge : How It Works
Set High
Set Low
![Page 13: Lecture 16 - NYU Tandon School of Engineeringengineering.nyu.edu/mechatronics/smart/pdf/lectures/LECT16_17.pdfSMART Funded by The National Science Foun dation DC Motor Direction Control](https://reader033.fdocuments.in/reader033/viewer/2022050502/5f9491360470850c8c394414/html5/thumbnails/13.jpg)
SMART Funded by The National Science FounSMART Funded by The National Science Foundationdation
H-Bridges with Relays
Motor
+12V
Vss
1k
2N3904
2N3904Relay Relay
Relay
2N3904
Vss
Vss Vss
0.01
uF
0.01
uF
0.01
uF
Vdd Vdd
Vdd1k Relay
2N3904
Vss
0.01
uF
Vdd
![Page 14: Lecture 16 - NYU Tandon School of Engineeringengineering.nyu.edu/mechatronics/smart/pdf/lectures/LECT16_17.pdfSMART Funded by The National Science Foun dation DC Motor Direction Control](https://reader033.fdocuments.in/reader033/viewer/2022050502/5f9491360470850c8c394414/html5/thumbnails/14.jpg)
SMART Funded by The National Science FounSMART Funded by The National Science Foundationdation
H-Bridge ICs• LMD 18200• LMD 18201• LM 15200
• SN754410NE
![Page 15: Lecture 16 - NYU Tandon School of Engineeringengineering.nyu.edu/mechatronics/smart/pdf/lectures/LECT16_17.pdfSMART Funded by The National Science Foun dation DC Motor Direction Control](https://reader033.fdocuments.in/reader033/viewer/2022050502/5f9491360470850c8c394414/html5/thumbnails/15.jpg)
SMART Funded by The National Science FounSMART Funded by The National Science Foundationdation
Micro Dual Serial Motor Controller
• Using one serial output from the BASIC Stamp module, this motor controller can independently set each motor to go forward or backward at any of 127 speeds.
• To control additional motors, you can connect multiple motor controllers to the same serial line.
![Page 16: Lecture 16 - NYU Tandon School of Engineeringengineering.nyu.edu/mechatronics/smart/pdf/lectures/LECT16_17.pdfSMART Funded by The National Science Foun dation DC Motor Direction Control](https://reader033.fdocuments.in/reader033/viewer/2022050502/5f9491360470850c8c394414/html5/thumbnails/16.jpg)
SMART Funded by The National Science FounSMART Funded by The National Science Foundationdation
H-Bridge Experiments
StampWorks
Others
Robotics
Earth measurements
Basic A and DWhat’s micro controller
ChaptersExperiments
![Page 17: Lecture 16 - NYU Tandon School of Engineeringengineering.nyu.edu/mechatronics/smart/pdf/lectures/LECT16_17.pdfSMART Funded by The National Science Foun dation DC Motor Direction Control](https://reader033.fdocuments.in/reader033/viewer/2022050502/5f9491360470850c8c394414/html5/thumbnails/17.jpg)
Lecture 17
![Page 18: Lecture 16 - NYU Tandon School of Engineeringengineering.nyu.edu/mechatronics/smart/pdf/lectures/LECT16_17.pdfSMART Funded by The National Science Foun dation DC Motor Direction Control](https://reader033.fdocuments.in/reader033/viewer/2022050502/5f9491360470850c8c394414/html5/thumbnails/18.jpg)
SMART Funded by The National Science FounSMART Funded by The National Science Foundationdation
Linear Differential Equation
ubtdudb
dtudb
yadtyda
dtyda
m
m
mmm
n
n
nn
n
m
n
01
1
1
01
1
1
+⋅⋅⋅++
=+⋅⋅⋅++
−
−
−
−
−
−
![Page 19: Lecture 16 - NYU Tandon School of Engineeringengineering.nyu.edu/mechatronics/smart/pdf/lectures/LECT16_17.pdfSMART Funded by The National Science Foun dation DC Motor Direction Control](https://reader033.fdocuments.in/reader033/viewer/2022050502/5f9491360470850c8c394414/html5/thumbnails/19.jpg)
SMART Funded by The National Science FounSMART Funded by The National Science Foundationdation
First-Order Systemn >= m, n = 1 uya
dtdya =+ 01
Applying Laplace Transform
1
1
)()( 0
+=sa
sUsY
τ=>
0
0
1
))0(()(
aAy
aa
yeyytyt
=
=
+−=
∞
∞
−
∞
τ
τ
u(t) = A for t>=0u(t) = 0 for t<0
![Page 20: Lecture 16 - NYU Tandon School of Engineeringengineering.nyu.edu/mechatronics/smart/pdf/lectures/LECT16_17.pdfSMART Funded by The National Science Foun dation DC Motor Direction Control](https://reader033.fdocuments.in/reader033/viewer/2022050502/5f9491360470850c8c394414/html5/thumbnails/20.jpg)
SMART Funded by The National Science FounSMART Funded by The National Science Foundationdation
Passive RC Low-Pass Filter
R
C
+
Vo
-
+
Vi
-
11
)()(
+=RCssV
sV
i
o
![Page 21: Lecture 16 - NYU Tandon School of Engineeringengineering.nyu.edu/mechatronics/smart/pdf/lectures/LECT16_17.pdfSMART Funded by The National Science Foun dation DC Motor Direction Control](https://reader033.fdocuments.in/reader033/viewer/2022050502/5f9491360470850c8c394414/html5/thumbnails/21.jpg)
SMART Funded by The National Science FounSMART Funded by The National Science Foundationdation
Bode Plot• Bode plot is a very
useful graphical approach is to analyze and design feedback loops.
• It consists of plotting two curves, the log of gain, and phase, as functions of the log of frequency.
)j(
dB)VVlog(20)j(Le|)j(G|)j(G
)j(V)j(V)j(G
js)s(V)s(V)s(G
i
o
)(ji
o
i
o
ωϕ
=ω
ω=ωωω=ω
ω=
=
ωϕ−
L(jω) is log of gain, unit is dBφ(jω) is phase
![Page 22: Lecture 16 - NYU Tandon School of Engineeringengineering.nyu.edu/mechatronics/smart/pdf/lectures/LECT16_17.pdfSMART Funded by The National Science Foun dation DC Motor Direction Control](https://reader033.fdocuments.in/reader033/viewer/2022050502/5f9491360470850c8c394414/html5/thumbnails/22.jpg)
SMART Funded by The National Science FounSMART Funded by The National Science Foundationdation
Bode Plot of Low-Pass Filter
Cutoff frequency
-3dB
![Page 23: Lecture 16 - NYU Tandon School of Engineeringengineering.nyu.edu/mechatronics/smart/pdf/lectures/LECT16_17.pdfSMART Funded by The National Science Foun dation DC Motor Direction Control](https://reader033.fdocuments.in/reader033/viewer/2022050502/5f9491360470850c8c394414/html5/thumbnails/23.jpg)
SMART Funded by The National Science FounSMART Funded by The National Science Foundationdation
• Cut off frequency is the frequency that the power of the output signal is attenuated to half of its input value
dBdB
PiPo
AiAo
321log20
707.021
10 −==
≈==
RC
RCRC
jGPP
RCjG
RCjjG
sVsVsG
Example
c
c
ci
o
c
i
o
11)(2
1)(1
21|)(|
21
1)(1|)(|
11)(
)()()(
:
2
22
2
=
+==>
+===
=+
=
+=
=
ω
ωω
ω
ωω
ωω
![Page 24: Lecture 16 - NYU Tandon School of Engineeringengineering.nyu.edu/mechatronics/smart/pdf/lectures/LECT16_17.pdfSMART Funded by The National Science Foun dation DC Motor Direction Control](https://reader033.fdocuments.in/reader033/viewer/2022050502/5f9491360470850c8c394414/html5/thumbnails/24.jpg)
SMART Funded by The National Science FounSMART Funded by The National Science Foundationdation
Passive RC High-Pass Filter
R
C +
Vo
-
+
Vi
-
1)()(
+=RCsRCs
sVsV
i
o
![Page 25: Lecture 16 - NYU Tandon School of Engineeringengineering.nyu.edu/mechatronics/smart/pdf/lectures/LECT16_17.pdfSMART Funded by The National Science Foun dation DC Motor Direction Control](https://reader033.fdocuments.in/reader033/viewer/2022050502/5f9491360470850c8c394414/html5/thumbnails/25.jpg)
SMART Funded by The National Science FounSMART Funded by The National Science Foundationdation
Bode Plot of High-Pass Filter
Cutoff frequency
-3dB