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Motors for Makers: A Guide to Steppers, Servos, and Other Electrical Machines

Name: Motors for Makers: A Guide to Steppers, Servos, and Other Electrical Machines
Author: Matthew Scarpino
ISBN: 9780134031330

by Matthew Scarpino

November 2015

Beginner

320 pages

8h 55m

English

Que

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About This E-Book
Title Page
Copyright Page
Contents at a Glance
Contents
About the Author
We Want to Hear From You!
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Introduction
Who This Book Is ForHow This Book Is OrganizedLet Me Know What You Think
I: Introduction

1. Introduction to Electric Motors
1.1 Brief History1.1.1 Oersted’s Compass Needle1.1.2 Jedlik’s Self-Rotor1.2 Anatomy of a Motor1.2.1 External Structure1.2.2 Internal Structure1.3 Overview of Electric Motors1.3.1 DC Motors1.3.2 AC Motors1.4 Goals and Structure1.5 Summary
2. Preliminary Concepts
2.1 Torque and Angular Speed2.1.1 Force2.1.2 Torque2.1.3 Angular Speed2.1.4 The Torque-Speed Curve2.2 Magnets2.3 Equivalent Circuit Element2.3.1 Electrical Losses2.3.2 Back-EMF2.4 Power and Efficiency2.4.1 Work2.4.2 Rotational Power2.4.3 Electrical Power2.4.4 Efficiency2.5 Summary
II: Exploring Electric Motors
3. DC Motors
3.1 DC Motor Fundamentals3.1.1 Torque, Current, and KT3.1.2 Rotational Speed, Voltage, and KV3.1.3 The KT-KV Tradeoff3.1.4 Switching Circuitry3.1.5 Pulse Width Modulation (PWM)3.2 Brushed Motors3.2.1 Mechanical Commutation3.2.2 Types of Brushed Motors3.2.3 Advantages and Disadvantages3.2.4 Control Circuitry3.3 Brushless Motors3.3.1 BLDC Structure3.3.2 Inrunner and Outrunner Motors3.3.3 Controlling BLDCs3.4 Electronic Speed Control (ESC) Systems3.4.1 Battery Eliminator Circuit (BEC)3.4.2 Programmability3.5 Batteries3.6 Summary
4. Stepper Motors
4.1 Permanent Magnet (PM) Steppers4.1.1 Structure4.1.2 Operation4.2 Variable Reluctance (VR) Steppers4.2.1 Structure4.2.2 Operation4.3 Hybrid (HY) Steppers4.3.1 Structure4.3.2 Operation4.4 Stepper Control4.4.1 Bipolar Stepper Control4.4.2 Unipolar Stepper Control4.4.3 Drive Modes4.5 Summary
5. Servomotors
5.1 Hobbyist Servos5.1.1 Pulse Width Modulation (PWM) Control5.1.2 Analog and Digital Servos5.1.3 Rotary Encoders5.2 Overview of Servo Control5.2.1 Open-Loop and Closed-Loop Systems5.2.2 Modeling a Servomotor5.2.3 The Laplace Transform5.2.4 Block Diagrams and Transfer Functions5.2.5 Transfer Function of a Servomotor5.3 PID Control5.4 Summary
6. AC Motors
6.1 Alternating Current (AC)6.1.1 Single-Phase Power6.1.2 Three-Phase Power6.2 Overview of Polyphase Motors6.2.1 Stators6.2.2 Rotating Magnetic Field6.2.3 Synchronous Speed6.2.4 Power Factor6.3 Asynchronous Polyphase Motors6.3.1 Electromagnetic Induction6.3.2 Current and Torque6.3.3 Squirrel-Cage Rotor6.3.4 Wound Rotor6.4 Synchronous Polyphase Motors6.4.1 Doubly Excited Synchronous Motors6.4.2 Permanent Magnet Synchronous Motors6.4.3 Synchronous Reluctance Motors6.5 Single-Phase Motors6.5.1 Split-Phase Motors6.5.2 Capacitor-Start Motors6.5.3 Shaded-Pole Motors6.6 AC Motor Control6.6.1 Eddy-Current Drives6.6.2 Variable-Frequency Drives6.6.3 VFD Harmonic Distortion6.7 Universal Motors6.8 Summary
7. Gears and Gearmotors
7.1 Overview of Gears7.1.1 Power Transmission7.1.2 Pitch7.1.3 Backlash7.2 Types of Gears7.2.1 Spur Gears7.2.2 Helical Gears7.2.3 Bevel Gears7.2.4 Rack and Pinion7.2.5 Worm Gear7.2.6 Planetary Gear7.3 Gearmotors7.4 Summary
8. Linear Motors
8.1 Linear Actuators8.1.1 Operation and Structure8.1.2 Sample Linear Actuator8.1.3 Coilguns8.2 Linear Synchronous Motors8.2.1 Structure8.2.2 Case Study: Yaskawa SGLG8.2.3 Case Study: Transrapid Maglev System8.3 Linear Induction Motors8.3.1 Structure and Operation8.3.2 The LINIMO Train Line8.4 Homopolar Motors8.4.1 Structure and Operation8.4.2 Railguns8.5 Summary
III: Electrical Motors in Practice
9. Motor Control with the Arduino Mega
9.1 The Arduino Mega9.1.1 The Arduino Mega Circuit Board9.1.2 Microcontrollers and the ATmega25609.2 Programming the Arduino Mega9.2.1 Preparing the Arduino Environment9.2.2 Using the Environment9.2.3 Arduino Programming9.3 The Arduino Motor Shield9.3.1 Power9.3.2 The L298P Dual H Bridge Connections9.3.3 Controlling a Brushed Motor9.4 Stepper Motor Control9.4.1 The Stepper Library9.4.2 Controlling a Stepper Motor9.5 Servomotor Control9.5.1 The Servo Library9.5.2 Controlling the Servomotor9.6 Summary
10. Motor Control with the Raspberry Pi
10.1 The Raspberry Pi10.1.1 The Raspberry Pi Circuit Board10.1.2 The BCM2835 System on a Chip (SoC)10.2 Programming the Raspberry Pi10.2.1 The Raspbian Operating System10.2.2 Python and IDLE10.2.3 Interfacing GPIO10.3 Controlling a Servomotor10.3.1 Configuring PWM10.3.2 Controlling a Servo10.4 The RaspiRobot Board10.4.1 The L293DD Quadruple Half-H Driver10.4.2 RaspiRobot Python Code10.4.3 Controlling Brushed DC Motors10.4.4 Controlling a Stepper Motor10.5 Summary
11. Controlling Motors with the BeagleBone Black
11.1 The BeagleBone Black (BBB)11.1.1 The BBB Circuit Board11.1.2 The AM3359 System on a Chip (SoC)11.2 Programming the BBB11.2.1 The Debian Operating System11.2.2 The Adafruit-BBIO Module11.2.3 Accessing GPIO Pins11.3 PWM Generation11.4 The Dual Motor Controller Cape (DMCC)11.4.1 BBB-DMCC Communication11.4.2 PWM Signal Generation11.4.3 Switching Circuitry11.4.4 Motor Control11.5 Summary
12. Designing an Arduino-Based Electronic Speed Control (ESC)
12.1 Overview of the ESC Design12.2 Switching Circuitry12.2.1 MOSFET Switches12.2.2 MOSFET Drivers12.2.3 Bootstrap Capacitor12.3 Zero-Crossing Detection12.3.1 Step 1: Relate VP to the Voltages of the Three Windings12.3.2 Step 2: Relate VO to the Voltages of Two Energized Windings12.3.3 Step 3: Relate VO to the Voltage of the Floating Winding and the Floating Back-EMF12.3.4 Step 4: Combine the Results to Solve for the Floating Back-EMF12.4 Designing the Schematic12.4.1 Header Connections12.4.2 MOSFETs and MOSFET Drivers12.4.3 Zero-Crossing Detection12.5 Board Layout12.6 Controlling the BLDC12.6.1 General BLDC Control12.6.2 Interfacing the BLDC Through Arduino12.7 Summary
13. Designing a Quadcopter
13.1 Frame13.2 Propellers13.2.1 Propeller Dynamics13.2.2 Selecting the Propeller13.3 Motors13.4 Electronics13.4.1 Transmitter/Receiver13.4.2 Flight Controller13.4.3 Electronic Speed Control (ESC)13.4.4 Battery13.5 Construction13.6 Summary
14. Electric Vehicles
14.1 Electric Vehicle Conversion14.1.1 Motors14.1.2 Controllers14.1.3 Batteries14.1.4 Transmission14.2 Modern Electric Vehicles14.2.1 Tesla Motors Model S14.2.2 Nissan Leaf14.2.3 BMW i314.3 Patents from Tesla Motors14.3.1 Flux Controlled Motor Management14.3.2 Induction Motor Lamination Design14.3.3 Dual-Motor Drive and Control System14.3.4 Method for Making Efficient Rotors14.4 Summary
IV: Appendixes
A. Electric Generators
A.1 OverviewA.2 DC GeneratorsA.3 AC GeneratorsA.3.1 Operation of an AC GeneratorA.3.2 Magnetos and Self-Excited GeneratorsA.4 Summary
B. Glossary
Index
Code Snippets

Content preview from Motors for Makers: A Guide to Steppers, Servos, and Other Electrical Machines

12. Designing an Arduino-Based Electronic Speed Control (ESC)

Chapters 9 through 11 explained how to control motors using popular boards such as the Arduino Mega and Raspberry Pi. This chapter puts aside existing boards and explains how to design a motor control board from scratch. To be specific, the goal is to design an electronic speed control (ESC) capable of controlling a brushless DC motor (BLDC). As discussed in Chapter 3, “DC Motors,” an ESC receives low-voltage signals from a controller and generates the high-current pulses needed to drive the motor.

For the sake of simplicity, this chapter’s ESC will be constructed as an extension board for Arduino family of circuit boards (particularly the Arduino Mega). This means the extension board ...

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Motors for Makers: A Guide to Steppers, Servos, and Other Electrical Machines

by Matthew Scarpino

12. Designing an Arduino-Based Electronic Speed Control (ESC)

Become an O’Reilly member and get unlimited access to this title plus top books and audiobooks from O’Reilly and nearly 200 top publishers, thousands of courses curated by job role, 150+ live events each month,
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