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immaggini per lutto] [http://ana-princes. | |
− | + | 1000 | |
− | There are many kinds of motor drivers | + | iespana.es/new/mms-cordless/ mms cordless telecom] [http://abr-abrante.iespana.es/content/webcam-free/ webcam free live] [http://samuiel.isuisse.com/html/bikkemberg-calzature/ bikkemberg calzature uomo] [http://arb-digits.iespana.es/web/za-za.htm za za za grupo climax] [http://night-sacrifice.isuisse.com/resources/atlantis-router.htm atlantis router a02] [http://killbox.ibelgique.com/html/foto-villa.htm foto villa mare] [http://masteriii.isuisse.com/camera-spoleto.htm camera spoleto] [http://ofdays.isuisse.com/library/quark-x/ quark x press patch] [http://den-namore.isuisse.com/gallerie-di/ gallerie di foto porno gratuite] [http://sharkymel.isuisse.com/web/roma-kiev/ roma kiev] [http://abr-abrante.iespana.es/content/cavallino-d/ cavallino d oro] [http://da-kosta.iespana.es/directory/casse-.htm casse 2 satelliti] [http://levirgule.iespana.es/creative-labs/ creative labs webcam nx pro] [http://mentalquicksand.ibelgique.com/library/che-bella.htm che bella cosa sei] [http://brkim.angelfire.com/resources/batterie-al.htm batterie al litio nokia 3310] [http://flameshes.isuisse.com/topic/teddy-reno/ teddy reno] [http://salpukka.isuisse.com/lib/video-torture/ video torture americane] [http://pahopewe.angelfire.com/resources/jeux-de.htm jeux de maths] [http://vanisky-love.iespana.es/resources/asciugatrice-classe/ asciugatrice classe energetica a] [http://ms-dirtnap.ibelgique.com/description/universal-prayer/ universal prayer tiziano ferro cd] [http://dafredri.angelfire.com/articles/telemovil-el/ telemovil el salvador com] [http://callie-avalon.iespana.es/piracicaba/ piracicaba] [http://grizs.iespana.es/articles/juegos-atenas.htm juegos atenas 2004] [http://the-ile.iespana.es/edoardo-vianello/ edoardo vianello] [http://mentalquicksand.ibelgique.com/library/frank-elliott.htm frank elliott] [http://muamive.isuisse.com/library/provini-film/ provini film porno] [http://akyla-pera.isuisse.com/text/hot-chocolate.htm hot chocolate] [http://dreameradrift.ibelgique.com/small/lavoro-crociere/ lavoro crociere musica] [http://re-nrevival.isuisse.com/view/teenporn.htm teenporn] [http://quarantined-x.iespana.es/view/danym/ danym] [http://bet-deratos.iespana.es/topic/titoli-hit/ titoli hit mania dance 2004] [http://pooponastick.ibelgique.com/description/ragazzo-di/ ragazzo di strada] [http://ruoj-ruoj.isuisse.com/description/mappa-provincia/ mappa provincia di latina] [http://callie-avalon.iespana.es/more-free/ more free] [http://levirgule.iespana.es/rimini-eros/ rimini eros] [http://sharkymel.isuisse.com/web/nec-vm/ nec 72vm] [http://sharkymel.isuisse.com/web/francesco-libero/ francesco libero it] [http://muamive.isuisse.com/library/lumberjack-bari/ lumberjack bari] [http://ohsoemo22a.ibelgique.com/library/canon-fax.htm canon fax b 160] [http://annie-fialochka.ibelgique.com/lib/continente-americano.htm continente americano] [http://nifred-la.isuisse.com/resources/lets-go/ lets go] [http://sharkymel.isuisse.com/web/val-di/ val di canneto] [http://sharkymel.isuisse.com/web/kingston-memory/ kingston memory card] [http://zigz-kom.isuisse.com/tempete/ tempete] [http://levirgule.iespana.es/cantantes-italianos/ cantantes italianos] [http://annie-fialochka.ibelgique.com/lib/bubbin.htm bubbin] [http://songsoutofkey.isuisse.com/view/rappresentanti-adidas.htm rappresentanti adidas] [http://ofdays.isuisse.com/library/plasma-/ plasma 42 pollici a parete tv televisori] [http://mongo42.ibelgique.com/foto-dalla/ foto dalla a alla z] [http://bet-deratos.iespana.es/topic/toom-raider/ toom raider] [http://salpukka.isuisse.com/lib/muvee/ muvee] [http://callie-avalon.iespana.es/disco-fisso/ disco fisso] [http://cakresen.angelfire.com/articles/free-download.htm free download mac] [http://magenta4eva.iespana.es/video-games.htm video games gratis] [http://flameshes.isuisse.com/topic/il-volo/ il volo dell angelo] [http://salpukka.isuisse.com/lib/hd/ hd 2 5 5400] [http://cakresen.angelfire.com/articles/camera-guidonia.htm camera guidonia] [http://borg77.iespana.es/styles/lourdes-tarbes/ lourdes tarbes] [http://cutterjon.isuisse.com/content/panasonic-digital.htm panasonic |
+ | 1000 | ||
+ | digital] [http://flameshes.isuisse.com/topic/le-dolcezze/ le dolcezze del peccato] [http://annie-fialochka.ibelgique.com/lib/foto-annunci.htm foto annunci coppie esibizioniste] [http://abr-abrante.iespana.es/content/hp/ hp 4300] [http://epbristo.angelfire.com/so-called/ so called chaos] There are many kinds of motor drivers: | ||
* servo motor controller | * servo motor controller | ||
* stepper motor controller | * stepper motor controller | ||
* 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) ... | ||
− | + | A DC motor controller that is 'reversable' 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 utilised 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. | |
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− | A DC motor controller that is ' | ||
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− | + | 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 acheived 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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A similar method is used to drive multiphase (3-phase) AC motors, however instead of just using an H bridge, only a half H bridge is used per phase (3 half-bridges). Each phases half bridge is then driven in the same manner as for the single phase motor, with a phase difference between the phases as appropriate. | A similar method is used to drive multiphase (3-phase) AC motors, however instead of just using an H bridge, only a half H bridge is used per phase (3 half-bridges). Each phases half bridge is then driven in the same manner as for the single phase motor, with a phase difference between the phases as appropriate. | ||
Line 37: | Line 18: | ||
Most stepper motor controllers uses 2 independent H bridges (4 half-bridges) for the 2 independent coils of a stepper motor. | Most stepper motor controllers uses 2 independent H bridges (4 half-bridges) for the 2 independent coils of a stepper motor. | ||
Each possible state (one bridge driving current one way, the other way, or free-floating) of both bridges gives 4 "full steps", 4 "half-steps" between the full steps. | Each possible state (one bridge driving current one way, the other way, or free-floating) of both bridges gives 4 "full steps", 4 "half-steps" between the full steps. | ||
− | The "microstepping" motor controllers use PWM to gradually change | + | The "microstepping" motor controllers use PWM to gradually change from adjacent full-steps and half-steps. |
((fill in more details here...)) | ((fill in more details here...)) | ||
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== current sense == | == current sense == | ||
− | Often people want to | + | Often people want to meas |
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− | + | ure the current going through the motor. | |
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− | + | There are 3(?) basic techniques: | |
+ | * low-side current shunt | ||
+ | * high-side current shunt | ||
+ | * magnetic field sense | ||
+ | * ... ''(any others I missed?)'' | ||
− | + | Low-side is (electrically) the simplest. | |
− | + | For smaller motors, the current is usually measured by | |
− | + | running the current through a shunt resistor, | |
− | + | and measuring the voltage across the resistor. | |
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− | -- | + | In situations where low-side sensing is difficult ( automobile electronics bonded to the "GND" car frame; other systems where it is inconvenient to put a resistor on the "lo" power wire), we turn to high-side sensing. |
− | [[ | + | [http://www.newark.com/jsp/search/browse.jsp;Ntt=high side current sense Newark: high side current sense]; [http://www.digikey.com/scripts/DkSearch/dksus.dll?KeywordSearch |