Next:
9. DC Motor Control
Up:
Robot Programming in ``C''
Previous:
8.4.4 Not Meant for
Contents
IV
. DC Motor and Closed Loop Motion Control
Subsections
9
. DC Motor Control
9
.
1
DC Motor Direction Control
9
.
2
DC Motor ``Strength'' Control
9
.
2
.
1
Analog Electrical Potential Control
9
.
2
.
2
PWM
9
.
3
Are we done?
10
. Motion Encoding
10
.
1
Optical Encoding
10
.
2
Magnetic Encoding
10
.
3
Quadrature Encoding
10
.
4
Implementation
10
.
4
.
1
General Approach
10
.
4
.
2
External Interrupts
10
.
4
.
3
Algorithm for Quadrature Encoding
10
.
5
Electronic Interface
10
.
5
.
1
Problems with a plain phototransistor
10
.
5
.
1
.
1
Transition edge
10
.
5
.
1
.
2
Rail to rail range
10
.
5
.
2
Solution
10
.
5
.
3
Example
11
. PID Loop
11
.
1
The Theory
11
.
1
.
1
The Proportional Term
11
.
1
.
2
The Integration Term
11
.
1
.
3
The Derivative Term
11
.
2
From Continuous to Discrete
11
.
3
Practical Concerns
11
.
3
.
1
Resolution of Output
11
.
3
.
2
The Resolution of
and
11
.
3
.
3
The Resolution of the Integration Term
11
.
3
.
4
The Resolution of the Differential Term
11
.
4
Improving Feedback Resolution
11
.
4
.
1
The Problem
11
.
4
.
2
A Solution
11
.
4
.
3
Practical Considerations
12
. Motor Driver Circuit Design
12
.
1
TPIC0108 Interfacing
12
.
1
.
1
TPIC0108 Logic for DC Motors
12
.
1
.
2
TPIC0108 Logic for Stepper Motors
12
.
1
.
3
TPIC0108 Chopper Drive Logic
12
.
2
Layout Considerations
Copyright © 2006-02-15 by Tak Auyeung
