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Servo Motor Control

Servo Motor Control. Basic computer control of motor position and velocity. [POWERUP] AC .5 accel .5 VE 1.5 velocity 1.5 Note: accelerates to velocity of 1.5, decelerates to stop. LP loop DI 1.5 distance 1.5 GO start move TD 1 delay 1 DI -1.5 distance -1.5

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Servo Motor Control

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  1. Servo Motor Control Basic computer control of motor position and velocity

  2. [POWERUP] AC .5 accel .5 VE 1.5 velocity 1.5 Note: accelerates to velocity of 1.5, decelerates to stop LP loop DI 1.5 distance 1.5 GO start move TD 1 delay 1 DI -1.5 distance -1.5 GO start move TD 2 delay 2 EB end block EN end program Watch the motor

  3. Position vs. time Velocity vs. time 1 – Cos( t )

  4. How do you judge position? Encoder

  5. Direction? Encoders are typically 5000 – 10000 pulse/revolution

  6. How do you judge speed (velocity)? Attach motor shaft to small generator Use the motor to generate electricity Faster = more Called a Tachometer

  7. servo motor control • 1.0 1.25 1.5 1.75 0 – 360 is 1 ms • 1.0 1.25 1.5 1.75 • 1.0 1.25 1.5 1.75

  8. Same distance, half speed. PWM: pulse width modulation

  9. stepper motor control

  10. time (t+1)

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