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EML 2023 – Motor Control

EML 2023 – Motor Control. Lecture 4 – DAQ and Motor Controller. Closed Loop Control. analog speed signal. desired position. current. Motor Driver. Motor. Computer and DAQ. digital direction signal. Encoder. sensed actual position. Let’s answer 3 questions.

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EML 2023 – Motor Control

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  1. EML 2023 – Motor Control Lecture 4– DAQ and Motor Controller

  2. Closed Loop Control analog speed signal desired position current Motor Driver Motor Computer and DAQ digital direction signal Encoder sensed actual position

  3. Let’s answer 3 questions. • How is the motor held in place and how is it connected to the shaft that it is to rotate? • How does the encoder work and how is it physically connected to the motor? • How do the DAQ and motor driver work? analog speed signal desired position current Motor Driver Motor Computer and DAQ digital direction signal Encoder sensed actual position

  4. Interface to Computer • We will use a National Instruments USB-6009 data acquisition (DAQ) device • specs • USB interface to PC • 8 channels of analog input, 0-5V • 2 channels of analog output 0-5V5 mA each • 12 channels of digital input/outputs0 or 5V, (8.5 mA for outputs) • 1 counter

  5. NI USB-6009

  6. Interface to Computer

  7. Honeywell / Clarostat 600128CN1 Allied Electronics part # 753-0059 cost: $41.67

  8. Computer Interface • Let’s start with digital inputs to interface to the optical encoder. notice that there are four wires

  9. channels A & B will be either 0V or 5V depending on whether that light detector detects light through a slit or not ground channel A channel B +5V power

  10. ground channel A channel B +5V power

  11. Computer Interface to Motor • To control the motor: • we have to control the current going to the motor (via the voltage) • however, the typical analog voltage signal that a computer generates from the DAQ does not have sufficient current to power the motor • an amplifier is used* • a power supply provides 24V (7.5 amp max for our case) to the amp • the computer DAQ generates an analog voltage in the range of-0 to +5V; 0V means the motor is to stop ; +5V means the motor is to turn at a maximum speed • a digital signal will give the desired direction (0 V, CCW, 5 V CW) analog speed signal desired position current Motor Driver Motor Computer and DAQ digital direction signal Encoder sensed actual position * also called a ‘motor driver’ or ‘speed controller’

  12. analog speed signal desired position current Motor Driver Motor Computer and DAQ digital direction signal Encoder sensed actual position

  13. from power supply to motor

  14. Change motor direction To go CW, set this digital output pin to TRUE (+5V). To go CCW, set this digital output pin to FALSE (0V).

  15. Homing Switch 0V +5V to input pin on USB DAQ

  16. Interface to Computer 0V from USB-6009 +5V from USB-6009

  17. USB analog speed signal desired position current Motor Driver Motor Computer and DAQ digital direction signal Encoder sensed actual position

  18. USB analog speed signal desired position current Motor Driver Motor Computer and DAQ digital direction signal Encoder sensed actual position

  19. USB digital direction signal ground analog speed signal analog speed signal desired position current Motor Driver Motor Computer and DAQ digital direction signal Encoder sensed actual position

  20. USB analog speed signal desired position PWM signal to motor current 24 volt supply Motor Driver Motor Computer and DAQ digital direction signal Encoder sensed actual position

  21. USB analog speed signal desired position current Motor Driver Motor Computer and DAQ digital direction signal 5 volt, ground, channel A, channel B Encoder sensed actual position

  22. Let’s answer 3 questions. • How is the motor held in place and how is it connected to the shaft that it is to rotate? • How does the encoder work and how is it physically connected to the motor? • How do the DAQ and motor driver work? analog speed signal desired position current Motor Driver Motor Computer and DAQ digital direction signal Encoder sensed actual position

  23. Design Project • For each motor in your design: • include an optical encoder for motor position feedback • include a homing switch to initialize your position • include limit switches as needed • mount the motor driver • For the project: • mount the DAQ

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