December 2015
Beginner to intermediate
650 pages
18h 28m
English
book
Embedded Computing and Mechatronics with the PIC32 Microcontroller
by Kevin Lynch, Nicholas Marchuk, Matthew Elwin
Content preview from Embedded Computing and Mechatronics with the PIC32 Microcontroller
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Chapter 27
DC Motor Control
Abstract
This chapter covers the elements of a professional motor control system, including: the operation of an H-bridge and the purpose of flyback diodes; control of a motor using an H-bridge driven by PWM; regeneration and effects of motor braking; a nested-loop motor control system consisting of an outer-loop motion controller and a higher-frequency inner-loop current controller; control laws for the current controller based on current feedback and the motion controller based on encoder feedback; and a description of an industrial motor controller and amplifier, as motivation for a final project in embedded motor control.
Keywords
DC motor control
H-bridge
PWM
Regeneration
Flyback diode
Nested control loops ...
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