3_Servo motors and PWM_empty presentation

servos presentation servo servos presentation servo servos presentation servo servos presentation servo servos presentation servo servos presentation servo

1. Design of computer-controlled robots
ENGRMAE: 172/280
Winter 2023

2. Module 1
Learning Outcomes
2
Lecture 3: Servo motors - PWM
•Compare different types of motors and choose the right one according to the task
•Asses the power requirements of the robot depending on the selected actuators
•Control a servo motor using PWM scheme
Copyright © 2023 The Regents of the University of California, All rights reserved. Created by Camilo Velez Cuervo.

3. Module Content
3
Lecture 3: Servo motors - PWM
•Motors
–Brushed DC motors
–H bridge
–Brushless
–Stepper
–PWM
–Servo
•Power distribution
–Voltage regulators
–Batteries
Copyright © 2023 The Regents of the University of California, All rights reserved. Created by Camilo Velez Cuervo.

4. 4
Brushless DC motor
BLDC
Lecture 3: Servo motors - PWM
https://www.youtube.com/watch?v=bCEiOnuODac
https://www.youtube.com/watch?v=VaWGJVHiJC8
Copyright © 2023 The Regents of the University of California, All rights reserved. Created by Camilo Velez Cuervo.

5. 5
Stepper motor
Overview
Lecture 3: Servo motors - PWM
https://www.youtube.com/watch?v=eyqwLiowZiU
Suggested website for additional material
https://realpars.com/stepper-motor/

Copyright © 2023 The Regents of the University of California, All rights reserved. Created by Camilo Velez Cuervo.

6. 6
Stepper motor
Overview
Lecture 3: Servo motors - PWM
Copyright © 2023 The Regents of the University of California, All rights reserved. Created by Camilo Velez Cuervo.

7. 7
Stepper motor
Overview
Lecture 3: Servo motors - PWM
Copyright © 2023 The Regents of the University of California, All rights reserved. Created by Camilo Velez Cuervo.

8. 8
PWM
Pulse width modulation
Lecture 3: Servo motors - PWM
•Changing voltage in a DC motor
–Results in higher losses in the divider circuit
–Decrease of current
–Decrease instantaneous motor torque
Copyright © 2023 The Regents of the University of California, All rights reserved. Created by Camilo Velez Cuervo.

9. 9
PWM
Pulse width modulation
Lecture 3: Servo motors - PWM
Copyright © 2023 The Regents of the University of California, All rights reserved. Created by Camilo Velez Cuervo.

10. 10
PWM
Pulse width modulation
Lecture 3: Servo motors - PWM
Copyright © 2023 The Regents of the University of California, All rights reserved. Created by Camilo Velez Cuervo.

11. 11
PWM
Pulse width modulation
Lecture 3: Servo motors - PWM
Copyright © 2023 The Regents of the University of California, All rights reserved. Created by Camilo Velez Cuervo.

12. 12
PWM
Pulse width modulation with L293D driver
Lecture 3: Servo motors - PWM
Copyright © 2023 The Regents of the University of California, All rights reserved. Created by Camilo Velez Cuervo.
F=500KHz

13. 13
Servo motors
Overview
Lecture 3: Servo motors - PWM
•Commonly used in close loop systems
•Precise position control
•High efficiency and great precision
•Control angle, position, and velocity
•Comprise of several parts
2820
Copyright © 2023 The Regents of the University of California, All rights reserved. Created by Camilo Velez Cuervo.

14. 14
Servo motors
Type of motors
Lecture 3: Servo motors - PWM
SVL-210
Copyright © 2023 The Regents of the University of California, All rights reserved. Created by Camilo Velez Cuervo.

15. 15
Servo motors
Closed loop system
Lecture 3: Servo motors - PWM
Copyright © 2023 The Regents of the University of California, All rights reserved. Created by Camilo Velez Cuervo.

16. 16
Servo motors
Overview
Lecture 3: Servo motors - PWM
https://medium.com/@er.manpreetsingh1_7147/servo-motor-interfacing-with-arduino-b645e4f1eb8
Copyright © 2023 The Regents of the University of California, All rights reserved. Created by Camilo Velez Cuervo.

17. 17
Servo motors
Overview
Lecture 3: Servo motors - PWM
Copyright © 2023 The Regents of the University of California, All rights reserved. Created by Camilo Velez Cuervo.

18. 18
Servo motors
Overview
Lecture 3: Servo motors - PWM
Copyright © 2023 The Regents of the University of California, All rights reserved. Created by Camilo Velez Cuervo.

19. 19
Servo motors
Overview
Lecture 3: Servo motors - PWM
Copyright © 2023 The Regents of the University of California, All rights reserved. Created by Camilo Velez Cuervo.

20. 20
Servo motors
Overview
Lecture 3: Servo motors - PWM
Copyright © 2023 The Regents of the University of California, All rights reserved. Created by Camilo Velez Cuervo.

21. 21
Servo motors
Overview
Lecture 3: Servo motors - PWM
https://realpars.com/servo-motor/
https://www.youtube.com/watch?v=ditS0a28Sko
Copyright © 2023 The Regents of the University of California, All rights reserved. Created by Camilo Velez Cuervo.

22. 22
Brushless DC motor
Comparison
Lecture 3: Servo motors - PWM
https://www.youtube.com/watch?v=I2_-etus0KQ
Copyright © 2023 The Regents of the University of California, All rights reserved. Created by Camilo Velez Cuervo.

23. Module Content
23
•Motors
–Brushed DC motors
–H bridge
–Brushless
–Stepper
–PWM
–Servo
•Power distribution
–Voltage regulators
–Batteries
Lecture 3: Servo motors - PWM
Copyright © 2023 The Regents of the University of California, All rights reserved. Created by Camilo Velez Cuervo.