1. Electric Motors and Motion Control Ara Knaian

2. Motors Motors convert electrical energy to mechanical energy Motors make things move LINEAR ELECTROSTATIC DC BRUSH STEPPER INDUCTION UNIVERSAL

3. How a DC Motor Works Brushes

4. How a DC Motor Works

5. Motor Modeling Is this motor big enough? Will this thing move? What gear ratio should I use? How big should my power supply be? How hot will it get? How fast can I machine? What materials can I machine?

6. Motor Modeling Voltage and Current In Torque and Speed Out Heat Out Power In = Power Out

7. Motor Modeling

8. Torque is proportional to current In an ideal motor (R = 0), speed is proportional to voltage At constant voltage, speed goes down as torque goes up

9. Pittman Motor Data Sheet

11. Bidirectional Motor Drive: H-Bridge

12. Speed Control: PWM Like Low Voltage (slow) Like High Voltage (fast)

13. Rotary Shaft Encoder

14. Motor Control: Linear Servo Loop Motor Mechanical System EncoderController Set Point (desired position, velocity) Measured Output (position/velocity) e.g. PID

15. Practical Motor Controller Block Diagram Motor Mechanical System EncoderH Bridge Limit Switch Microcontroller