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Running DC MotoRs with AttACheD inCReMentAl enCoDeRs
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Because the motor does not start moving until it has overcome the friction in the system, a constant is used to represent the minimum power needed to get it to move. This is the constant K. There are many more sophisticated ways to calculate the best way to manage the operation of an encoded DC motor, and they can all work very well. The method selected is usually a function of how fast the system being used to control the motor is. If it is fast enough, and a math package is installed, a complicated mathematical equation can be solved to determine the gain needed. However, in our case we have a small parallel system and only integer math support. Our only recourse is to use a simple scheme like the one described above. Here is my challenge to you: Go find an easy and comprehensive way to run a DC servo motor anywhere on the Internet or in any book. If easier to undertake than what we will be doing in the following pages, send me the information I want to know how it s done. The information we get from the motor encoder is also a function of the number of encoder slots in the encoder attached to the motor. As the encoder counts increase, we can determine how far the motor has moved more accurately and we can determine how fast it is moving in a shorter amount of time. However, the time we have to read the encoder between states gets shorter and shorter with increasing encoder counts, and this, too, is critical. If we are using one of the cogs to read the encoder, this is not a critical consideration. However, if we have to use a conventional processor, it is pretty difficult to manage the encoder while running the motor at the same time. There is a direct relationship between the number of encoder counts and the speed of the motor being controlled because each revolution turned provides the same number of encoder counts. The ideal situation is to have the smallest number of encoder slots that will do the job (but it does not hurt to have larger counts). This has to do with how closely the motor has to be positioned and how closely it has to follow the time/distance trajectory profile we are interested in. We have to make changes to the profile often enough to meet the tolerance specification. The motor will tend to depart from the specified motion profile at a variable rate, depending on the changes in the load conditions. The power input correction has to be made often enough to keep the motor position within an acceptable error range for the speed and the distance moved. This is a bit of a handful so we will approach the problem one step at a time. Although there are exceptions, in almost all cases the motor falls behind what we are trying to have it do. The reason for this is that our control schemes are based on error signals from the motor encoder, and for us to have an error signal, we have to have departed from the desired instantaneous position. As we will see, we use the time vs. expected position relationship to try to minimize this lag. The lag is usually in milliseconds and is usually well tolerated by the systems being designed. When the movements the controlled system makes are rapid, maintaining the exact trajectory becomes more difficult and larger, faster processors and high encoder counts become essential. Geared systems are used but are frowned upon because they have backlash in them and have to be lubricated and maintained. A direct drive is the drive of choice, and a cog belt driven system gets the next preferred drive on the selection scale.
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