1. DC MOTOR CONTROL Kevin Chung [EE496] Brent Hashimoto [EE496] Brent Uyehara

2. PROPOSAL Understanding physics behind DC motors Understanding physics behind DC motors Implementing DC motor control Implementing DC motor control Apply to Micromouse Apply to Micromouse Buddy Buddy

3. OBJECTIVE Seeking Systems-oriented project relating to Micromouse Seeking Systems-oriented project relating to Micromouse New challenge to Micromouse structure New challenge to Micromouse structure Spring 2003 – Side sensors Spring 2003 – Side sensors Spring 2004 – DC motors Spring 2004 – DC motors Future – Both side sensors & DC motors Future – Both side sensors & DC motors

4. ADVANTAGES/DISADVANTAGES Advantages: More speed (faster RevPerMin) More speed (faster RevPerMin) Less operational power Less operational power Physically smaller than stepper motors Physically smaller than stepper motorsDisadvantages: Difficult to control Difficult to control May require gears for increased torque May require gears for increased torque DC motors w/ gears DC motors w/ gears

5. WHAT’S INVOLVED PWM (Pulse Width Modulation) PWM (Pulse Width Modulation) Duty-cycle controls speed Duty-cycle controls speed Encoder Encoder Keeps track of revolutions Keeps track of revolutions May require PID (Proportional Integral Derivative) control May require PID (Proportional Integral Derivative) control (Looking into it!) (Looking into it!)

6. OUR DREAM MOUSE

7. BET THAT VIDEO BLEW YOUR MIND!!! THANK YOU THANK YOU