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* DC motor controller ("brushed") | * DC motor controller ("brushed") | ||
* AC motor controller ("brushless") | * AC motor controller ("brushless") | ||
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* ... (todo: fill in the other kinds) ... | * ... (todo: fill in the other kinds) ... | ||
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A DC motor controller that is 'reversible' generally uses an 'H bridge'. This 'H-bridge' uses four output drivers in a configuration that resembles an H where the load is the cross bar in the middle. The lines on either side of the load (the downward strokes in the H) represent a series connection of a pull-up driver and a pull-down driver. This allows each terminal of the load to be connected to either the positive supply rail, or the negative supply rail. This allows a positive, negative or zero voltage difference across the load. This load voltage is then utilized to provide the desired control required of the motor. The various combinations can give a 'forwards' torque on a DC motor, a 'backwards' torque on the same motor, can allow the motor to free-wheel (without any applied torque) or can provide a locking of the motor such that it resists any attempt to rotate it. | A DC motor controller that is 'reversible' generally uses an 'H bridge'. This 'H-bridge' uses four output drivers in a configuration that resembles an H where the load is the cross bar in the middle. The lines on either side of the load (the downward strokes in the H) represent a series connection of a pull-up driver and a pull-down driver. This allows each terminal of the load to be connected to either the positive supply rail, or the negative supply rail. This allows a positive, negative or zero voltage difference across the load. This load voltage is then utilized to provide the desired control required of the motor. The various combinations can give a 'forwards' torque on a DC motor, a 'backwards' torque on the same motor, can allow the motor to free-wheel (without any applied torque) or can provide a locking of the motor such that it resists any attempt to rotate it. | ||
− | A single phase AC motor is generally driven in the same way as a DC motor, however instead of operating the motor drive as a constant DC voltage (in either the 'forward' or 'reverse' direction) the AC motor is driven by an approximation to a sinewave. This approximation is created using the H bridge and driving it with a PWM input | + | A single phase AC motor is generally driven in the same way as a DC motor, however instead of operating the motor drive as a constant DC voltage (in either the 'forward' or 'reverse' direction) the AC motor is driven by an approximation to a sinewave. This approximation is created using the H bridge and driving it with a PWM input such that both the positive and negative voltage periods are the same. This is normally achieved either using a sawtooth waveform compared against a sine wave reference, or is done using a lookup table in a microcontroller. |
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[[Image:pptrans.png | frame | Push Pull Transistor Circuit: one half-bridge. (Fixme: show the flyback diodes, and convert to the more common MOSFET drive transistors ... also replace the resistive "load" with a (M) motor symbol.)]] | [[Image:pptrans.png | frame | Push Pull Transistor Circuit: one half-bridge. (Fixme: show the flyback diodes, and convert to the more common MOSFET drive transistors ... also replace the resistive "load" with a (M) motor symbol.)]] | ||
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((fill in more details here...)) | ((fill in more details here...)) | ||
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== noise control == | == noise control == | ||
Many motors make sparks when the brushes make or break contact. | Many motors make sparks when the brushes make or break contact. | ||
− | This causes lots of electrical noise ("brush noise"). | + | This causes causes lots of electrical noise ("brush noise"). |
Your TV-watching neighbors won't be happy if you allow this noise to leak out. | Your TV-watching neighbors won't be happy if you allow this noise to leak out. | ||
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HydraRaptor: [http://hydraraptor.blogspot.com/2007/09/dc-to-daylight.html "DC to daylight"]. More details: | HydraRaptor: [http://hydraraptor.blogspot.com/2007/09/dc-to-daylight.html "DC to daylight"]. More details: | ||
HydraRaptor: [http://hydraraptor.blogspot.com/2007/10/gm3-motor-suppressor.html "GM3 motor suppressor"] | HydraRaptor: [http://hydraraptor.blogspot.com/2007/10/gm3-motor-suppressor.html "GM3 motor suppressor"] | ||
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== current sense == | == current sense == | ||
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* You want a hardware-enforced blanking time as alluded to earlier. | * You want a hardware-enforced blanking time as alluded to earlier. | ||
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A random collection of semi-related links in no particular order (please prune out the irrelevant ones): | A random collection of semi-related links in no particular order (please prune out the irrelevant ones): | ||
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* Avayan Electronics has many bipolar microstepping stepper motor driver boards and DC motor H bridge drive boards (up to 40A continuous). Many (all?) of them are open source. Avayan sells insanely cheap empty PCBs [http://www.avayanelectronics.com/Products/products.html] [http://www.avayanelectronics.com/Buy_NOW_/buy_now_.html]. | * Avayan Electronics has many bipolar microstepping stepper motor driver boards and DC motor H bridge drive boards (up to 40A continuous). Many (all?) of them are open source. Avayan sells insanely cheap empty PCBs [http://www.avayanelectronics.com/Products/products.html] [http://www.avayanelectronics.com/Buy_NOW_/buy_now_.html]. | ||
− | + | * [http://reprap.org/wiki/Stepper_Motor_Driver_2_3 RepRap stepper motor driver] is based around the Allegro A3982 bipolar Stepper Motor Driver with Translator (up to 35 V and up to ±2 A). Like all the RepRap electronics, it is open-source and available on the [http://sourceforge.net/projects/reprap/files/Electronics/ Sourceforge RepRap project files]. You can buy the fully assembled board from (among other places) [http://store.makerbot.com/electronics/assembled-electronics/stepper-driver-v2-3-fully-assembled.html MakerBot Industries] | |
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* [http://groups.yahoo.com/group/GoBox GoBox: a group designing motor driver electronics], a charge controller to optimize getting energy from a variety of energy sources (MTTP solar, wind, water, etc.), and related devices. "The designs and programs are released under a Hardware Open Source License." | * [http://groups.yahoo.com/group/GoBox GoBox: a group designing motor driver electronics], a charge controller to optimize getting energy from a variety of energy sources (MTTP solar, wind, water, etc.), and related devices. "The designs and programs are released under a Hardware Open Source License." | ||
+ | * [http://www.bobblick.com/techref/projects/hbridge/hbridge.html H-Bridge by Bob Blick] | ||
* [http://groups.yahoo.com/group/osmc/ the Open Source Motor Controller Project] | * [http://groups.yahoo.com/group/osmc/ the Open Source Motor Controller Project] | ||
* [http://massmind.org/techref/io/stepper/linistep/ LiniStepper] $30 each; Open Source! Circuit Diagram, PCB (Board) Layout, and PIC Software all available. Nice photos of the LiniStepper at http://www.piclist.com/techref/io/stepper/linistep/lini_bld.htm . | * [http://massmind.org/techref/io/stepper/linistep/ LiniStepper] $30 each; Open Source! Circuit Diagram, PCB (Board) Layout, and PIC Software all available. Nice photos of the LiniStepper at http://www.piclist.com/techref/io/stepper/linistep/lini_bld.htm . | ||
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* [http://www.isl.ee.boun.edu.tr/projects/motordriver/ "Electronic Design of DC Motor Drives"] has detailed schematics and PCB layout for a system that has a PC send commands through the serial port to a Microchip PICmicro, which does PWM control of 2 H bridges. Each half-bridge uses a IRF9530N (100V 14A pfet plus flyback diode) and a IRF530 (IRF530NPBF: 100V 17A nfet plus flyback diode), driven by a small transistor inverter based on a BD135 npn, for a total of 12 discrete transistors. | * [http://www.isl.ee.boun.edu.tr/projects/motordriver/ "Electronic Design of DC Motor Drives"] has detailed schematics and PCB layout for a system that has a PC send commands through the serial port to a Microchip PICmicro, which does PWM control of 2 H bridges. Each half-bridge uses a IRF9530N (100V 14A pfet plus flyback diode) and a IRF530 (IRF530NPBF: 100V 17A nfet plus flyback diode), driven by a small transistor inverter based on a BD135 npn, for a total of 12 discrete transistors. | ||
* [http://openservo.com/ OpenServo wiki] -- developing a digital servo motor that accepts "Go to position X" commands and also more complex curves, and returns actual servo position, speed, voltage and power consumption. | * [http://openservo.com/ OpenServo wiki] -- developing a digital servo motor that accepts "Go to position X" commands and also more complex curves, and returns actual servo position, speed, voltage and power consumption. | ||
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* [http://homepages.which.net/~paul.hills/SpeedControl/Mosfets.html MOSFETs and MOSFET drivers] | * [http://homepages.which.net/~paul.hills/SpeedControl/Mosfets.html MOSFETs and MOSFET drivers] | ||
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* L297 stepper motor controller + L298 dual full-bridge driver: for driving one (4-wire) bipolar stepper motor (2 A); direction and step inputs; half-stepping; on-chip PWM chopper limits current. external diodes are required (preferably Shottky). (Both chips come in through-hole and SMT versions) | * L297 stepper motor controller + L298 dual full-bridge driver: for driving one (4-wire) bipolar stepper motor (2 A); direction and step inputs; half-stepping; on-chip PWM chopper limits current. external diodes are required (preferably Shottky). (Both chips come in through-hole and SMT versions) | ||
* L298 dual full-bridge driver can also be used to drive 2 independent DC motors (2 A each); external diodes are required (preferably Shottky). L293D is similar, but only rated up to 1 A, 36 V. | * L298 dual full-bridge driver can also be used to drive 2 independent DC motors (2 A each); external diodes are required (preferably Shottky). L293D is similar, but only rated up to 1 A, 36 V. | ||
− | + | * [http://www.sparkfun.com/commerce/product_info.php?products_id=8368 SparkFun: EasyDriver v3 Stepper Motor Driver] based on [http://www.sparkfun.com/datasheets/Robotics/A3967.pdf A3967 microstepping driver] chip; up to 750mA, 30 V. | |
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* L6208N stepper motor driver: driving one (4-wire) bipolar stepper motor; up to 2.8 A, 52 V. direction and step inputs. PWM current control; includes internal diodes. over-current and thermal protection. half-stepping. MC3479 stepper motor drive is similar, but only rated up to 350 mA, 16 V. | * L6208N stepper motor driver: driving one (4-wire) bipolar stepper motor; up to 2.8 A, 52 V. direction and step inputs. PWM current control; includes internal diodes. over-current and thermal protection. half-stepping. MC3479 stepper motor drive is similar, but only rated up to 350 mA, 16 V. | ||
* [http://www.nanotec.de/page_product__smc11__en.html Nanotec] sells microstepping stepper motor driver chips (the IMT-901, IMT-902, and IMT-903) and assembled stepper motor driver modules. | * [http://www.nanotec.de/page_product__smc11__en.html Nanotec] sells microstepping stepper motor driver chips (the IMT-901, IMT-902, and IMT-903) and assembled stepper motor driver modules. | ||
− | * | + | * [http://forums.reprap.org/read.php?13,5128 Reprap: Arduino] has a long side-thread on various motor driver chips. |
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* lots of [http://octopart.com/search?q=stepper+motor+driver&c=0&d=0 stepper motor driver chips] | * lots of [http://octopart.com/search?q=stepper+motor+driver&c=0&d=0 stepper motor driver chips] | ||
* [http://criticalvelocity.com/ Critical Velocity] sells DC motor speed controllers and stepper motor controllers. | * [http://criticalvelocity.com/ Critical Velocity] sells DC motor speed controllers and stepper motor controllers. | ||
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* [http://hubbard.engr.scu.edu/embedded/avr/boards/index.html MotorDriver] by Pascal Stang, Procyon Engineering. based on National Semiconductor LMD18200 H-bridge chips ... Up to 50V, 3A continuous, per channel ... "Can connect directly to AVRmini or STK500 with just one or two 10-pin ribbon cables" | * [http://hubbard.engr.scu.edu/embedded/avr/boards/index.html MotorDriver] by Pascal Stang, Procyon Engineering. based on National Semiconductor LMD18200 H-bridge chips ... Up to 50V, 3A continuous, per channel ... "Can connect directly to AVRmini or STK500 with just one or two 10-pin ribbon cables" | ||
* [http://www.robotgear.com.au/Category.aspx/Category/37 "Motor and Servo Controllers"] from RobotGear in Australia | * [http://www.robotgear.com.au/Category.aspx/Category/37 "Motor and Servo Controllers"] from RobotGear in Australia | ||
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* The [http://www.pololu.com/catalog/product/1202 Pololu "A4983 Stepper Motor Driver Carrier with Voltage Regulators"] operates from 8 – 35 V and can deliver up to 2 A per coil. The driver features adjustable current limiting and five different microstep resolutions. This is the tiniest stepper motor driver I've ever seen. | * The [http://www.pololu.com/catalog/product/1202 Pololu "A4983 Stepper Motor Driver Carrier with Voltage Regulators"] operates from 8 – 35 V and can deliver up to 2 A per coil. The driver features adjustable current limiting and five different microstep resolutions. This is the tiniest stepper motor driver I've ever seen. | ||
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==== A3977 ==== | ==== A3977 ==== | ||
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=== further reading === | === further reading === | ||
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* [http://microchip.com/wiki/Wiki.aspx?WikiID=12 "Brushed DC Motor Drive Circuits"] on the Microchip wiki. | * [http://microchip.com/wiki/Wiki.aspx?WikiID=12 "Brushed DC Motor Drive Circuits"] on the Microchip wiki. | ||
* [http://www.circuitcellar.com/microchip2007/winners/first.html "Variable Speed Induction Motor Controller"] by Richard Wotiz 2007 | * [http://www.circuitcellar.com/microchip2007/winners/first.html "Variable Speed Induction Motor Controller"] by Richard Wotiz 2007 | ||
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* [http://www.robotroom.com/Flip-Flop-74HC74-Back-And-Forth-Robot5.html The Flip-Flop Robot] uses the IXDN404 chip as a single-chip H bridge motor driver for 1 small motor. | * [http://www.robotroom.com/Flip-Flop-74HC74-Back-And-Forth-Robot5.html The Flip-Flop Robot] uses the IXDN404 chip as a single-chip H bridge motor driver for 1 small motor. | ||
* [http://www.robotroom.com/Joystick2.html the Joystick controlled robot] uses a FAN8200 motor driver chip as a single-chip H bridge motor driver to drive 2 small motors. | * [http://www.robotroom.com/Joystick2.html the Joystick controlled robot] uses a FAN8200 motor driver chip as a single-chip H bridge motor driver to drive 2 small motors. | ||
+ | * [http://www.rrrf.org/2009/04/02/kit-available-stepper-motor-driver-v23/ this RepRap Stepper Motor Driver] was developed by the RRRF as an open source stepper driver. If you are interested in manufacturing/selling the boards, please feel free to do so. | ||
* [http://techref.massmind.org/techref/io/stepper/linistep Linistepper open source microstepping controller / driver for stepper motors]. Has PMinMO standard connections. | * [http://techref.massmind.org/techref/io/stepper/linistep Linistepper open source microstepping controller / driver for stepper motors]. Has PMinMO standard connections. | ||
* [http://techref.massmind.org/techref/io/motors.htm Massmind: motors] has links to general information about various kinds of motors and motor controllers | * [http://techref.massmind.org/techref/io/motors.htm Massmind: motors] has links to general information about various kinds of motors and motor controllers | ||
* [http://micah.navi.cx/2010/01/diy-sewing-machine-retrofit/ DIY Sewing Machine Retrofit]: Micah mentions "The LMD18200 is an amazingly versatile and robust little chip." -- the LMD18200 has one H bridge (4 MOSFET transistors) on one chip (3A continuous; up to 55V), plus "Thermal warning flag output at 145°C" and "Thermal shutdown (outputs off) at 170°C". ''(is this better, worse, or simply different from the LMD18245T ?)''. | * [http://micah.navi.cx/2010/01/diy-sewing-machine-retrofit/ DIY Sewing Machine Retrofit]: Micah mentions "The LMD18200 is an amazingly versatile and robust little chip." -- the LMD18200 has one H bridge (4 MOSFET transistors) on one chip (3A continuous; up to 55V), plus "Thermal warning flag output at 145°C" and "Thermal shutdown (outputs off) at 170°C". ''(is this better, worse, or simply different from the LMD18245T ?)''. | ||
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[[Category:Projects]] | [[Category:Projects]] |