Scribd
Upload
158 views

Lab 2 A: Robot DC Motor: Characterization, Modeling, and Simulation

1. This document provides an overview of Lab 2, which involves characterizing a DC motor, developing an electrical model, and using simulations. 2. Key aspects of the lab include measuring the motor's torque, induced electromotive force, developing equivalent circuit and mechanical models, and using an optical encoder to determine speed. 3. Students will perform experiments to determine model parameters like resistance, torque constant, and moment of inertia, and validate the model by comparing experimental and simulated results.

Uploaded by

Nunja
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
158 views

Lab 2 A: Robot DC Motor: Characterization, Modeling, and Simulation

1. This document provides an overview of Lab 2, which involves characterizing a DC motor, developing an electrical model, and using simulations. 2. Key aspects of the lab include measuring the motor's torque, induced electromotive force, developing equivalent circuit and mechanical models, and using an optical encoder to determine speed. 3. Students will perform experiments to determine model parameters like resistance, torque constant, and moment of inertia, and validate the model by comparing experimental and simulated results.

Uploaded by

Nunja
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 17

Lab2A:RobotDCMotor

Characterization,modeling,andsimulation

ECEN2270

ElectronicsDesignLaboratory

DiscussionItems
Labreports:mustbeuploadedviaD2Ldropbox bythe deadline
Onereportpergroup,includebothnamesonthefrontpage Attendanceisrequired!!!!!!!

TakeawayfromLab1demos
Donotrushthroughthelab;takethetimetounderstandwhatyou aredoingandwhy Makesurebothpartnersknowandunderstandallaspectsofthe lab;donotsplitportionsofthelabbetweenpartnerstorush through ReviewcarefullytheLectureslidesandtheLabTasks,includingthe statementsonwhattoincludeinthefinalreport DosotodaybeforestartofLab2tomorrow!

ECEN2830

ElectronicsDesignLaboratory

Lab2,PartA
Broaderobjectives:workingwithaload
Understandthephysicalbehavioroftheload:DCmotor DevelopinganelectricalmodelfortheDCmotorasaload Experimentallyfindingmodelparameters Performingdesignandsimulationusingmodels Hardwareimplementation,verification,andtesting

ECEN2830

ElectronicsDesignLaboratory

Robotplatform

TwoDCmotors,eachdrivingawheel

DCsupply 10<VDC <+10V

wheel IDC
motor shaft wheel shaft

VDC

+ _

Optical encoder: 12 pulses permotor shaft rotation

DCmotor
12 3 4

64:1 gear

1EncoderpowersupplyVCC=+710V 2Encoderground 3EncoderoutputpulsesA,frequencyfenc 4EncoderoutputpulsesB,frequencyfenc

ECEN2830

ElectronicsDesignLaboratory

DCMotorbasics:TorqueT
righthandrule _ IDC VDC +
Vectoralignedwith theconductorof lengthl,direction alignedwith currentdirection

Armature winding

IDC

Force[N]

F I DC l B
Current[A]

Magnetic fluxdensity vector[T]

Torque[Nm]

T kI DC

k =motorconstant[Nm/A]

Diagramfrom:http://www.animations.physics.unsw.edu.au/jw/electricmotors.html ECEN2830 ElectronicsDesignLaboratory 5

DCMotorbasics:ElectromotiveForce(EMF)
Faradayslawofinduction righthandrule _ IDC VDC +
Rateofchangeof magneticflux throughthe armaturewinding

Armature winding

IDC

VEMF
InducedEMF[V]

d dt

VEMF k
InducedEMF[V]

Speed[rad/s]

k =motorconstant[Nm/A],[V/(rad/s)]
Diagramfrom:http://www.animations.physics.unsw.edu.au/jw/electricmotors.html ECEN2830 ElectronicsDesignLaboratory 6

DCmotorequations
Electricalmodel(armaturecircuit)

VDC RM I DC

VEMF k
Mechanicalmodel

dI DC LM VEMF dt

d TJ B Tload dt T kI DC
Tload Tint Text

J =momentofinertia B =frictioncoefficient

Loadtorqueisacombinationofinternal gearboxloadandexternalload

ECEN2830

ElectronicsDesignLaboratory

DCmotorequivalentcircuitmodel
IDC + VDC _ VEMF = k + T = kIDC J 1/B Tload LM RM

VDC RM I DC

dI DC LM VEMF dt

VEMF k
Requiresmeasurementof inputterminals,VDC andIDC

d TJ B Tload dt T kI DC Tload Tint Text


Combinedinternal gearandloadtorque

Considerhowtomeasureallcircuitparametersfromthemodel

frequency inrad/s useopticalencoder


ECEN2830 ElectronicsDesignLaboratory 8

Opticalencoder

Encoderoutputpulses,frequencyfenc [Hz]is proportionaltospeed

ECEN2830

ElectronicsDesignLaboratory

Speedconversions
Example:wheelspeedis1 rotationpersecond:1rps
n =60rpm =2 rad/s=6.28rad/s nm =64*60rpm=3840rpm fenc =12*nm/60=768Hz

n =wheelspeed,rotationsperminute[rpm] n/60=wheelspeed,rotationspersecond[rps]

2 f enc 12 64

=wheelrotationalspeed[rad/s]=2n/60 Usedinmodelequations nm =motorshaftspeed,nm =(gearratio)*n =64n[rpm] fenc =frequencyofencoderpulses[Hz]=12*nm/60=12*64*n/60[Hz]

ECEN2830

ElectronicsDesignLaboratory

10

Opticalencoder:direction
counterclockwise
Encoderpulse outputA Encoderpulse outputB

clockwise
Encoderpulse outputA Encoderpulse outputB

InLab2,onlyoneencoderpulseoutputisneeded Optionalextracreditusesbothpulsestodeterminedirection

ECEN2830

ElectronicsDesignLaboratory

11

Encodercircuit

+VCC=+5V GND PulseoutA PulseoutB


LEDs Photo transistors Logicinverters(shape thesensedsignalsinto squarewaveoutput pulses) Encoderconnector (encoderinternallyuses a+5Vpowersupply; externally,wecan supplyanysupply voltagebetween7Vand 10V)

ECEN2830

ElectronicsDesignLaboratory

12

Inputandoutput portsdefined

DCMotorSpicemodel

Internaltorqueload fromgearbox,Tint

Modelparameters tobedetermined byexperiments: RM,k,J,B,Tint


ECEN2830

Encodermodel:correctspeedtofenc frequencyconversionhasalready beendone,noneedtochangeanythinginthispartofthemodel

DownloadthemodelfromtheLab2website Onlyeditthemodeldesignatedparameters
ElectronicsDesignLaboratory 13

TestingSpicemodel
Externalloadtorque Text attachedhere

Simulationsetupto 1. Startmotor:bringupVDC,overfirst1ms

Externalload mustsinkto ground

2. Pulseloadtorque:0A(noload)forfirst50ms,1Afornext50ms 3. Stopmotor:bringdownVDCfrom100msto101ms,10Vto0V

ECEN2830

ElectronicsDesignLaboratory

14

MotorSimulationResults

Considerwaveformsandmodelineachmode:motorstart,loadchange,motorstop
IDC + VDC _ VEMF = k + T = kIDC J 1/B Tload LM RM

VDC RM I DC LM

dI DC VEMF dt

VEMF k
ECEN2830

d B Tload dt Tload Tint Text T kI DC TJ


15

ElectronicsDesignLaboratory

Findingmodelparametersfromexperiments
RM fromlockedmotortest k fromspeedasafunctionofvoltage,unloadedmotor B andTint frominternallosses,unloadedmotor J fromatransient:considerpoweronorofftransient
IDC + VDC _ VEMF = k + T = kIDC J 1/B Tload LM RM

VDC RM I DC LM

dI DC VEMF dt

TJ

d B Tload dt

VEMF k

T kI DC

Tload Tint Text

ECEN2830

ElectronicsDesignLaboratory

16

Lab2objectives
PartA MeasureDCmotorcharacteristics DevelopaSpicecircuitmodelfortheDCmotoranddetermine modelparametersbasedonexperiments Validatethemodel:compareexperimentalandsimulationresults PartB UseDCmotorSpicemodeltodesignaspeedsensor(tachometer) circuitthatoutputsvoltageproportionaltowheelspeed Build,testanddemothespeedsensorcircuit

ECEN2830

ElectronicsDesignLaboratory

17

You might also like