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

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    Nunja
    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.

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

    Uploaded by

    Nunja
    133 views17 pages
    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.

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    lecture for the lab part a

    Original Title

    Lecture Lab2 PartA

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    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.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    133 views17 pages

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

    Uploaded by

    Nunja
    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.

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    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

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