Microcontroller homework 07 (0)

Masinaehitus - Mikrokontrollerid ja praktiline robootika

5 VÄGA HEA

Microcontroller homework for week 12

Three different stepper motors (illustrations on page 162-163):

permanent -magnet,
variablereluctance,
hybrid .

The VR stepper has a soft iron rotor with teethand a wound stator . As current is applied to two opposing stator coils, the rotor is pulled into alignment with these twocoils. As the next pair of coils is energized, the rotor advances to the next position .
The permanent magnet (PM) stepper has a rotor with alternating north and south . As the coils are energized, the rotor is pulled around . This ﬁgure shows a single coil to illustrate the concept , but a realstepper would have stator windings surrounding the rotor. The PM stepper has more torque than an equivalent VR stepper.
The hybrid stepper essentially adds teeth to a permanent magnet motor ,resulting in better coupling of the magnetic ﬁeld into the rotor and moreprecise movement. In a hybrid stepper, the rotor is split into two parts, anupper and lower . One half is the north side of the magnet andone is the south. The teeth are offset so that when the teeth of one magnetare lining up with the mating teeth on the stator, the teeth on the other arelining up with the grooves, the tops of the teethare crosshatched for clarity). Some hybrid steppers have more than one stackof magnets for more torque.

There are two types of stator winding methods forstepper motors: bipolar and unipolar.
Bipolar windings use ﬁeld coils with no common connections. The coils must be driven independently to reverse the direction of motor ﬂow and rotate the motor.
Unipolar motors use coils with centertaps. The centertap is usually connected to the positive supply , and the individual coils are grounded ( through transistors) to drive the motor.
Each time the ﬁeld is changed in a bipolar motor or a different coil isturned on in a unipolar motor, the motor shaft steps to the next rotation position. Typical step sizes for a stepper are 7.5° or 15°. A 7.5° stepper will have360/7.5 or 48 steps per revolution . The step size depends on the number of rotor and stator teeth.

Considering the following circuit diagrams

The Table:
A
B
C
D
Q1
Q2
Q3
Q4
Q5
Q6
Q7
Q8
Coil A/B
0
0
0
0
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
A:OFF B:OFF
0
0
0
1
OFF
OFF
OFF
OFF
OFF
ON
OFF
ON
A:OFF
B:
0
0
1
0
OFF
OFF
OFF
OFF
ON
OFF
ON
OFF
A:OFF
B:
0
0
1
1
OFF
OFF
OFF
OFF
ON
ON
ON
ON
A:OFF
B:CC
0
1
0
0
OFF
ON
OFF
ON
OFF
OFF
OFF
OFF
A:
B:OFF
0
1
0
1
OFF
ON
OFF
ON
OFF
ON
OFF
A:
B:
0
1
1
0
OFF
ON
OFF
ON
ON
OFF
ON
OFF
A:
B:
0
1
1
1
OFF
ON
OFF
ON
ON
ON
ON
ON
A:
B:CC
1
0
0
0
ON
OFF
ON
OFF
OFF
OFF
OFF
OFF
A:
B:OFF
1
0
0
1
ON
OFF
ON
OFF
OFF
ON
OFF
ON
A:
B:
1
0
1
0
ON
OFF
ON
OFF
ON
OFF
ON
OFF
A:
B:
1
0
1
1
ON
OFF
ON
OFF
ON
ON
ON
ON
A:
B:CC
1
1
0
0
ON
ON
ON
ON
OFF
OFF
OFF
OFF
A:CC
B:OFF
1
1
0
1
ON
ON
ON
ON
OFF
ON
OFF
ON
A:CC
B:
1
1
1
0
ON
ON
ON
ON
ON
OFF
ON
OFF
A:CC
B:
1
1
1
1
ON
ON
ON
ON
ON
ON
ON
ON
A:CC
B:CC
The diodes , D1-D8, protect the transistors against the coil ﬂyback voltagewhen the transistors are turned off. The motor shaft is rotated by applyingdrive voltage to each input in the proper sequence.

Shoot -through, also known as cross -conduction. This is the condition that occurs when the upper and lower transistors on the same side of the coil turn on at the same time. If two transistors turn on at the same time, there will be a very low impedance between the supply voltage and ground — effectively a short. This usually destroys one or both transistors. In a high-power circuit , the results can be quite dramatic, with blue sparks and pieces of transistor ﬂying across the room . Shoot-through can be caused by bringing inputs high at the same time. It can also be caused by bringing one input high while simultaneously taking the other input low. If one of the transistors in the bridge turns off a little slower than the others turn on, the result will be momentary shoot-through.

The usual method to avoid shoot-through is to introduce a short delay between turning off one side of the H-bridge and turning on the other. The delay must be long enough to allow both transistors to turn off before the other pair turns on.

a. Which pin would be used for sensing current?
Pin 8
b. What would be the voltage output be if a 1kΩ resistor is connected from the current sense pin to ground and the motor winding is having a current of 2.653A?
1 V

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