1. EML 2023 – Motor Control Lecture 1 – Closed Loop Motor Control

2. EML 2023 Computer Aided Design Objective learn about closed-loop motor control –what hardware components are used and how do they work? class design project will require you to implement the mechanical components of a closed-loop controlled motor system 2

3. EML 2023 Department of Mechanical and Aerospace Engineering Open Loop Control 3 Motor Driver desired change in position current Computer and DAQ Motor analog speed signal digital direction signal

4. EML 2023 Department of Mechanical and Aerospace Engineering Closed Loop Control 4 Motor Driver desired position current Computer and DAQ Motor analog speed signal digital direction signal Encoder sensed actual position

5. EML 2023 Department of Mechanical and Aerospace Engineering Closed Loop Control 5 Motor Driver desired position current Computer and DAQ Motor analog speed signal digital direction signal Encoder sensed actual position calculate a speed and direction based on the position error

6. EML 2023 Department of Mechanical and Aerospace Engineering Closed Loop Control 6 Motor Driver desired position current Computer and DAQ Motor analog speed signal digital direction signal Encoder sensed actual position power supply

7. EML 2023 Department of Mechanical and Aerospace Engineering Closed Loop Control 7 Motor Driver desired position current Computer Motor Encoder sensed actual position power supply digital direction signal analog speed signal

8. EML 2023 Department of Mechanical and Aerospace Engineering Let’s answer 3 questions. 1.How is the motor held in place and how is it connected to the shaft that it is to rotate? 2.How does the encoder work and how is it physically connected to the motor? 3.How do the DAQ and motor driver work? 8 Motor Driver desired position current Computer and DAQ Motor analog speed signal digital direction signal Encoder sensed actual position