PWM and DC Motor Control

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Presentation transcript:

PWM and DC Motor Control Chapter 11 PWM and DC Motor Control

Selected DC Motor Characteristics (http://www.Jameco.com) Part No. Nominal Volts Volt Range Current RPM Torque 154915CP 3 V 1.5–3 V 0.070 A 5,200 4.0 g-cm 154923CP 0.240 A 16,000 8.3 g-cm 177498CP 4.5 V 3–14 V 0.150 A 10,300 33.3 g-cm 181411CP 5 V 0.470 A 10,000 18.8 g-cm

DC Motor Rotation (Permanent Magnet Field)

H-Bridge Motor Configuration

H-Bridge Motor Clockwise Configuration

H-Bridge Motor Counterclockwise Configuration

H-Bridge in an Invalid Configuration

Some H-Bridge Logic Configurations Motor Operation SW1 SW2 SW3 SW4 Off Open Clockwise Closed Counterclockwise Invalid

Bidirectional Motor Control Using an L298 Chip

Pulse Width Modulation Comparison

DC Motor Connection Using a Darlington Transistor

DC Motor Connection Using a MOSFET Transistor

SIM_SCGC6 Register

Timer Status and Control (TPMx_SC) Register

Timer Status and Control (TPMx_SC) Register Field Bits Description PS 0–2 In the prescaler, the clock is divided by 2PS. CMOD 3–4 Clock Mode Selection CPWMS 5 Center-aligned PWM select (0: Up counter mode, 1: up-down counter mode). TOIE 6 Time Overflow Interrupt Enable (0: Disabled, 1: Enabled). TOF 7 Timer Overflow Flag DMA 8 DMA Enable (0: Disabled, 1: Enabled)

CMOD and PS (Prescaler) bits

Up/Down-Counter and Up-Counter

TPMxCnSC (TPMx Channel Status and Control)

TPMxCnSC Register Field Bit Description CHF 7 Channel Flag CHIE 6 Channel interrupt enable MSB and MSA 5-4 Channel mode select ELSB and ELSA 3-2 Edge or Level Select DMA DMA enable (0: Disabled, 1: Enabled)

Edge-Aligned PWM

Edge-Aligned PWM (notice bit CPWMS=0) MSnB:MSnA ELSnB:ELSnA Mode Configuration 10 Edge-Aligned PWM (non-inverted) Set output on reload, clear output on match 01 or 11 (inverted) Clear output on reload, set output on match

The PWM output for MOD = 8, CnV = 5, ELSB:ELSA = 10 (non-inverted)

Center-Aligned PWM

Center-Aligned PWM (notice CPWMMS=1) CPWMS MSnB:MSnA ELSnB:ELSnA Mode Configuration 1 10 Center-Aligned PWM Clear output on match-up, set output on match-down X1 Set output on match-up, clear output on match-down

The PWM output for MOD = 7, CnV = 4, ELSB:ELSA = 10 (non-inverted)

Edge-aligned vs. Center-aligned Mode

Deadband