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№1 слайд![IMPLEMENTING IOE Assist.](/documents_6/987a76008f340fde9886303fc16e8474/img0.jpg)
Содержание слайда: IMPLEMENTING IOE
Assist. Prof. Rassim Suliyev - SDU 2017
№2 слайд![Physical Output Make things](/documents_6/987a76008f340fde9886303fc16e8474/img1.jpg)
Содержание слайда: Physical Output
Make things move by controlling motors with Arduino
Servo-motors
Rotary actuator that allows for precise control of angular position
DC-motors
Converts direct current electrical power into mechanical power
Stepper-motors
Divides a full rotation into a number of equal steps
№3 слайд![Brushed DC Motors Simple](/documents_6/987a76008f340fde9886303fc16e8474/img2.jpg)
Содержание слайда: Brushed DC Motors
Simple devices with two leads connected to brushes (contacts)
Control the magnetic field of the coils
Drives a metallic core (armature)
Direction of rotation can be reversed by reversing the polarity
Require a transistor to provide adequate current
Primary characteristic in selecting a motor is torque
How much work the motor can do
№4 слайд![Brushless Motors More](/documents_6/987a76008f340fde9886303fc16e8474/img3.jpg)
Содержание слайда: Brushless Motors
More powerful and efficient for a given size
Three phases of driving coils
Require more complicated electronic control
Electronics speed controllers
№5 слайд![DC Motor Parameters](/documents_6/987a76008f340fde9886303fc16e8474/img4.jpg)
Содержание слайда: DC Motor Parameters
Direct-drive vs. gearhead – built-in gears or not
Voltage – what voltage it best operates at
Current (efficiency) – how much current it needs to spin
Speed – how fast it spins
Torque – how strong it spins
Size, shaft diameter, shaft length
№6 слайд![DC Motor Characteristics When](/documents_6/987a76008f340fde9886303fc16e8474/img5.jpg)
Содержание слайда: DC Motor Characteristics
When the first start up, they draw a lot more current, up to 10x more
If you “stall” them (make it so they can’t turn), they also draw a lot of current
They can operate in either direction, by switching voltage polarity
Usually spin very fast: >1000 RPM
To get slower spinning, need gearing
№7 слайд![Driving DC Motor To drive](/documents_6/987a76008f340fde9886303fc16e8474/img6.jpg)
Содержание слайда: Driving DC Motor
To drive them, apply a voltage
The higher the voltage, the faster the spinning
Polarity determines which way it rotates
Can be used as voltage generators
№8 слайд![Switching Motors with](/documents_6/987a76008f340fde9886303fc16e8474/img7.jpg)
Содержание слайда: Switching Motors with Transistors
Transistors switch big signals with little signals
Since motors can act like generators,
Need to prevent them from generating “kickback” into the circuit
Can control speed of motor with analogWrite()
№9 слайд![Driving a Brushed Motor](/documents_6/987a76008f340fde9886303fc16e8474/img8.jpg)
Содержание слайда: Driving a Brushed Motor
№10 слайд![Controlling Speed of DC-Motor](/documents_6/987a76008f340fde9886303fc16e8474/img9.jpg)
Содержание слайда: Controlling Speed of DC-Motor
№11 слайд![Servo-Motors Allow accurately](/documents_6/987a76008f340fde9886303fc16e8474/img10.jpg)
Содержание слайда: Servo-Motors
Allow accurately control physical movement
Move to a position instead of continuously rotating
Rotate over a range of 0 to 180 degrees
Motor driver is built into the servo
Small motor connected through gears
Output shaft drives a servo arm
Connected to a potentiometer to provide position feedback
Continuous rotation servos
Positional feedback disconnected
Rotate continuously clockwise and counter clockwise with some control over the speed
№12 слайд![Servo-Motors](/documents_6/987a76008f340fde9886303fc16e8474/img11.jpg)
Содержание слайда: Servo-Motors
№13 слайд![Servo-Motors Respond to](/documents_6/987a76008f340fde9886303fc16e8474/img12.jpg)
Содержание слайда: Servo-Motors
Respond to changes in the duration of a pulse
Short pulse of 1 ms will cause to rotate to one extreme
Pulse of 2 ms will rotate the servo to the other extreme
№14 слайд![Servo-Motors Come in all](/documents_6/987a76008f340fde9886303fc16e8474/img13.jpg)
Содержание слайда: Servo-Motors
Come in all sizes
from super-tiny
to drive-your-car
All have same 3-wire interface
Servos are spec’d by:
weight: 9g
speed: .12s/60deg @ 6V
torque: 22oz/1.5kg @ 6V
voltage: 4.6~6V
size: 21x11x28 mm
№15 слайд![Servo Control PWM freq is Hz](/documents_6/987a76008f340fde9886303fc16e8474/img14.jpg)
Содержание слайда: Servo Control
PWM freq is 50 Hz (i.e. every 20 millisecs)
Pulse width ranges from 1 to 2 millisecs
№16 слайд![Servo and Arduino](/documents_6/987a76008f340fde9886303fc16e8474/img15.jpg)
Содержание слайда: Servo and Arduino
№17 слайд![Use the Servo library](/documents_6/987a76008f340fde9886303fc16e8474/img16.jpg)
Содержание слайда: Use the Servo library
servo.attach(pin[, min][, max]) – attach the servo
pin- the pin number that the servo is attached to
min (optional) - the pulse width, in microseconds, corresponding to the minimum (0-degree) angle on the servo (defaults to 544)
max (optional) - the pulse width, in microseconds, corresponding to the maximum (180-degree) angle on the servo (defaults to 2,400)
servo.write(angle) – turn the servo arm
angle – the degree value to write to the servo (from 0 to 180)
№18 слайд![Servo sweeper](/documents_6/987a76008f340fde9886303fc16e8474/img17.jpg)
Содержание слайда: Servo sweeper
№19 слайд![Controlling angle with pot](/documents_6/987a76008f340fde9886303fc16e8474/img18.jpg)
Содержание слайда: Controlling angle with pot
№20 слайд![Stepper Motors Rotate a](/documents_6/987a76008f340fde9886303fc16e8474/img19.jpg)
Содержание слайда: Stepper Motors
Rotate a specific number of degrees in response to control pulses
Number of degrees for a step is motor-dependent
Ranging from one or two degrees per step to 30 degrees or more
Two types of steppers
Bipolar - typically with four leads attached to two coils
Unipolar - five or six leads attached to two coils
Additional wires in a unipolar stepper are internally connected to the center of the coils
№21 слайд![Stepper Motors Unipolar](/documents_6/987a76008f340fde9886303fc16e8474/img20.jpg)
Содержание слайда: Stepper Motors
Unipolar drivers always energize the phases in the same way
Single "common" lead, will always be negative.
The other lead will always be positive
Disadvantage - less available torque, because only half of the coils can be energized at a time
Bipolar drivers work by alternating the polarity to phases
All the coils can be put to work
№22 слайд![Stepper Motors](/documents_6/987a76008f340fde9886303fc16e8474/img21.jpg)
Содержание слайда: Stepper Motors
№23 слайд![Driving a Unipolar Stepper](/documents_6/987a76008f340fde9886303fc16e8474/img22.jpg)
Содержание слайда: Driving a Unipolar Stepper Motor
№24 слайд![Driving a Bipolar Stepper](/documents_6/987a76008f340fde9886303fc16e8474/img23.jpg)
Содержание слайда: Driving a Bipolar Stepper Motor
№25 слайд![Arduino Stepper Library](/documents_6/987a76008f340fde9886303fc16e8474/img24.jpg)
Содержание слайда: Arduino Stepper Library
Allows to control unipolar or bipolar stepper motors
stepper(steps, pin1, pin2, pin3, pin4) – attach and initialize stepper
steps: number of steps in one revolution of motor
pin1, pin2, pin3, pin4: 4 pins attached to the motor
setSpeed(rpms) - Sets the motor speed in rotations per minute (RPMs)
step(steps) - Turns the motor a specific number of steps, positive to turn one direction, negative to turn the other
This function is blocking
wait until the motor has finished moving before passing control to the next line in sketch
№26 слайд![Arduino Stepper Library](/documents_6/987a76008f340fde9886303fc16e8474/img25.jpg)
Содержание слайда: Arduino Stepper Library