Motor
Motor
Motor
Choosing a Motor
The level of performance a motor can provide
is described by its parameters. These
include:
Rated Speed
◦ Speed measured in shaft revolutions per minute
(RPM)
Torque
◦ Rotational force produced around a given point, due
to a force applied at a radius from that point,
measured in lb-ft (or, oz-in).
HorsePower = Speed x Torque / 5252.11...
◦ A measure of work expended: 1 HP = 33,000 foot-
pounds per minute.
Torque-Speed performance of a motor
Motor Parameters
The different types of motors possess
different operating characteristics.
◦ Heavy Industrial applications: AC motors
◦ Mobile robotics & hobby robots: dc motor, dc servo
motor, and stepper motors
Types of Motors
When power is applied, AC motors turn in
one direction at a fixed speed.
Both reversable and non-reversable models
available
Usually high voltage (110V AC and up)
Inexpensive and commonly available
Optimized to run at a fixed, usually high
RPM.
If the applied load is greater than the
capacity of the motor, the motor will stall and
possibly burn out.
AC Motor Characteristics
When power is applied, DC motors turn in one direction
at a fixed speed.
They are optimized to run at a fixed, usually high RPM.
Torque is highest at the rated speed and lowest at low
speeds.
Speed can be varied if a (pulse width modulation) PWM
controller is added.
Almost all can be reversed.
Inexpensive and commonly available.
Available in wide range of speeds and power.
Suitable for turning, spinning, etc.
Not suitable for positioning unless some kind of position
feedback is added.
If the applied load is greater than the capacity of the
motor, the motor will stall and possibly burn out.
DC Motor Characteristics
Servo motor requirements may include control of acceleration,
velocity, and position to very close tolerances and allow for fast
starts, stops and reversals, and very accurate control.
DC servo motors consist of a DC motor combined with feedback
for either position or speed.
A system with a motor, feedback, and a controller which
constantly adjusts the position or speed to in reaction to the
feedback is called a closed-loop system
Hobby Servos require a desired position signal to tell them where
to turn to.
Once told where to go, a Hobby Servo uses its built-in controller
and feedback system to hold its position.
When power is applied, in the absence of a signal, a hobby servo
goes to its central position
The signal to control a hobby servo is non-trivial to generate.
Hobby servos can also be modified to turn continuously, in which
case the control signal is speed instead of position
DC Servo Motors
Requires a separate controller circuitry or it will
not turn when power is applied.
Inexpensive and commonly available, especially
in salvaged computer equipment
Precise positioning is possible by keeping count
of steps requested, even without feedback.
Torque is highest at the full stop and decreases
as speed is increased.
If the applied load is greater than the capacity of
the motor, the motor may not step, thereby
making precise positioning no longer possible.
Stepper Motors
Electric Motors or Motors convert electrical energy
to mechanical motion
Motors are powered by a source of electricity – either
AC or DC.
DC Electric Motors use Direct Current (DC) sources
of electricity:
◦ Batteries
◦ DC Power supply
Principle of How Motors Work:
Electricalcurrent flowing in a loop of wire will produce
a magnetic field across the loop.
When this loop is surrounded by the field of another
magnet, the loop will turn, producing a force (called
torque) that results in mechanical motion.
DC Electric Motors
Motors are powered by electricity, but rely
on principles of magnetism to produce
mechanical motion.
Motor Basics
Magnets
◦ A magnet is an object that possesses a
magnetic field, characterized by a North and
South pole pair.
◦ A permanent magnet (such as this bar
magnet) stays magnetized for a long time.
OPPOSITE
POLES
ATTRACT!
Direction of
Rotation
CW CCW
+ -
- +
Inside a Toy Motor
(Similar to TekBot Motor)
A stepper motor consists of:
◦ A permanent magnet rotating shaft (or rotor)
◦ Electromagnets on the stator – the stationary portion that
surrounds the motor
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