Types of Motors

 DC motors :Extensively used, all purpose

ones, driven by dc power supply
 AC motor : not used in robotics, driven by ac
power
 Stepper motor: extensively used in robotics
where controlled rotation is required
 Servo motor: geared dc motor with inbuilt

feedback and error compensation

DC Motor
 Operates with dc
voltage
 Can run in both
directions
 Speed control
Working of a DC Motor

1. Direction of motion is controlled by polarity of voltage

or direction of current

2. Speed is controlled by changing the average power

(energy) fed to the DC motor
DC motor continued…

 DC motors are high speed and low torque

devices
 Gears are used to decrease the speed and

increase the torque

 They give a smooth shaft movement
 Easy to operate
DC motor drivers

 Drivers are current amplifier circuits

 A low current control signal is converted

into a proportionally higher current signal

that can drive a motor

But How????
Power Transistors---Those which
can handle current of the order of Amps
Switching circuit
H-bridge working
Electronic direction control
H-Bridge working
Actual Circuit

When both the points A & B are "HIGH" Q1

and Q2 are in saturation. Hence the bases of Q3
to Q6 are grounded. Hence Q3,Q5 are OFF and
Q4,Q6 are ON . The voltages at both the motor
terminals is same, so the motor is OFF.
Similarly when both A and B are "LOW" the
motor is OFF. When A is HIGH and B is LOW,
Q1 saturates ,Q2 is OFF. The bases of Q3 and
Q4 are grounded and that of Q4 and Q5 are
HIGH.
Therefore Q4 and Q5 conduct making the right
terminal of the motor more positive than the left
and the motor is ON. When A is LOW and B is
HIGH ,the left terminal of the motor is more
positive than the right and the motor rotates in the
reverse direction. You can use only the
SL/SK100s ,but BC148 used have a very low
hFE ~70 and they would enter the active region
for 3V(2.9V was what I got from the computer
for a HIGH) . You can ditch the BC148 if you
have a SL/SK100 with a decent value of hFE
( like 150).The diodes protect the transistors from
surge produced due to the sudden reversal of the
motor. The approx. cost of the circuit without the
motor is around Rs.40.
DC motor Speed control circuit

• Input: Operating voltage and control signal

• Output: Part of operating voltage according
to control signal:
DC Motor speed control continued.

 Voltage across the terminal of Motor can be

changed by passing current through a
variable resistor. But it is extremely energy
inefficient
 A reduced average voltage is supplied to the
motor by a technique called PWM
PWM

 Pulse width modulation

 PWM is a technique to generate waveform of
different duty cycles depending upon an
input control voltage
 After feeding voltage waveform and
changing its duty cycle ,speed can be
controlled.
Duty cycle
Duty cycle continue..

 Time period (T): duration after which the

voltage waveform repeats itself
 Duty cycle: % time of T when the voltage is
equal to operating voltage
 Average voltage:=

Duty cycle x operating voltage

-------------------------------------
100
PWM generation

 Timer IC 555 is used for generation of

waveform
 Pin outs
 Circuit for PWM generation

Download Datasheet for NE555

Both speed and direction control
L293D Quad Half H-Bridge
Pin outs of L293D
Stepper Motor

Widely use in Robotics ---why??

Because it is more precise than DC motor
Measured rotation and can be held at a
particular position
Alignation is much better in a differential
drive
Stepper motor continue………
Types of Stepper

 Mainly of two types

 Unipolar motor: the current only flows in one
direction in the windings of the coils. i.e. the stator
poles can only be polarized one way.
Continued……….

Bipolar motor: the current flows in both

direction in the windings of the coils. i.e. the
stator poles can be polarized both way.
Comparison

 Unipolar  Bipolar

Current flow in one direction Current flow in both direction

Complicated drive Circuit

Simple drive circuit

High Torque
Less torque
Not Smooth
Smooth drive
Unipolar Stepper Motor

 This kind of motor has four coils .

 When energized in the correct sequence, it causes
the permanent magnet attached to the shaft to
rotate.
 There are 4 basic step sequences. After step 4, the
sequence is repeated from step 1 again.
 Reversing the order of the steps in a sequence will
reverse the direction of rotation.
Single coil excitation

0010

0100

0001

1000
a. Single-Coil Excitation - Each
successive coil is energized in turn.
Double coil Excitation
0011 0110 1100 1001

Note:
The excitation of Coil 4 is always the inverse of the excitation of Coil 2.
The excitation of Coil 1 is always the inverse of the excitation of Coil 3.
So, with the right circuit, you can generate this sequence with only two
data lines.
b. Two-Coil Excitation - Each successive pair of
adjacent coils is energized in turn.
Interleaving the two sequences will
cause the motor to half-step
Single and Double coil Excitation
1000 1100 0100 0110 0010 0011 0001 1001

0100 0011

0010
1001

1000 0110

1100 0100
Comparison

 Single coil  Double coil

 Low torque  High torque

 Consume less energy  Consume double energy

 Settling time is less
 Settling time is more
Circuit Diagram
The Coil Diagram
Connections

Data
Motor 1
Port1

Data Motor 2
Port2

Note –connect a 15v zener diode to pin 10 of IC as shown to prevent damage

to the IC due to "back emf" when loads such as motors switch on and off
25-way Female D-Type Connector
PC parallel Port

 The PC's Parallel Printer Port has a total of

12 digital outputs and 5 digital inputs accessed via 3
consecutive 8-bit ports in the processor's I/O space.
 8 output pins accessed via the DATA Port
 5 input pins (one inverted) accessed via the STATUS
Port
 4 output pins (three inverted) accessed via the
CONTROL Port
 The remaining 8 pins are grounded