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In order to control both speed and distance traveled (in revolutions), you need some sort of feedback mechanism that will tell you how fast the motor is moving and how far the motor has moved. This is usually done with an optical encoder that provides a quadrature signal of a fixed number of cycles per revolution. We count how many cycles have gone by to determine how far the motors has moved and adjust the power fed to the motor as needed for the results we are trying to achieve. The encoder signal also has the ability to be interpreted for motor direction. The ability of the Propeller to use one cog to keep track of the encoder counts makes controlling servomotors considerably easier in a multiprocessor Propeller-based control scheme. DC servomotors are covered in 28.
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Relays and Solenoids
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Although not strictly motors, relays and solenoids use the same magnetic technology that we are using to control the motors to make small movements. These movements
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are often useful for the experimenter, and we will cover the techniques needed to control these devices without damaging the sensitive electronics in our microcontroller in 29.
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Small A/C Motors at 120 Volts, Single Phase
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Oftentimes, it is necessary to control a small AC motor as a part of what we are doing. Controlling the on/off operation of a small (under a quarter horsepower) AC motor is quite straightforward and will be covered in 29. Controlling the speed of an AC motor is a little more complicated because these motors are not designed for speed control. They run at the speed determined by the frequency of the power lines, so the easiest way to vary the speed is by varying the frequency of the power sent to the motor. Even so, there is a limit to how much the speed can be changed because of overheating in the motor windings and resonances related to the overall design of the motor. Controls needed for these types of motors are beyond the scope of a book for beginners.
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Understanding the Concept of the Response Characteristics of a Motor
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An important concept we need to understand is the motor s ability to comply with the commands we send it. This is known as its response characteristics. If the motor cannot possibly do what we are commanding it to do, we are essentially wasting time because trying to control a motor under such circumstances is meaningless. No matter what we command the motor to do, if the load on the motor, the characteristics of the motor, its power supply, or the controller does not allow the motor to do what we want it to do, no amount of expertise on our part is going to make a difference. Although this seems to be obvious, it is the reason that most design failures occur.
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So What Does Compliance Mean
In a nutshell, compliance means that the motor has the power to execute the commands sent to it by the controller in real time. Keeping in mind that everything takes some time, real time means right after the motor gets the command or immediately. Usually this becomes a problem when the motor is too weak, the load is too large, or the power supply is inadequate for the task being commanded. (The processor we are using has to be up to the task, too. Its software has to have the right commands, and it has to be fast enough to do the job.)
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Compliance also means that you have to select a control situation that can be realized if you are going to be successful in your control attempt. It does not, however, mean that we understand the difference between what can and cannot be done at this stage of our learning process. Hopefully, by the time we get to the end of the exercises, we will have a better understanding of what is possible and what is not.
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