1. Servo Motor Control

2. EML 2023 Department of Mechanical and Aerospace Engineering Design Project You are to design a mechanical device that can tilt a given labyrinth board in two directions.

3. EML 2023 Department of Mechanical and Aerospace Engineering One Concept Could use two motors. Must be able to control the rotation angle of each.

4. EML 2023 Department of Mechanical and Aerospace Engineering Another Example Control the steering angle of an autonomous ground vehicle. Must be able to control the rotation angle.

5. EML 2023 Department of Mechanical and Aerospace Engineering Design Choices What power source will be used? How much power is needed? Is a speed reducer needed? Open-loop or closed-loop control?

6. EML 2023 Department of Mechanical and Aerospace Engineering Design Choices What power source will be used? electric servo motor electric stepper motor hydraulic actuator pneumatics

7. EML 2023 Department of Mechanical and Aerospace Engineering Design Choices How much power is needed? determine the maximum product of motor torque times angular velocity

8. EML 2023 Department of Mechanical and Aerospace Engineering Design Choices Is a speed reducer needed? a typical DC motor can rotate at a top speed of 2600 rpm (43⅓ rev/sec) gear box epicyclic gear train ball screw drive

9. gear box worm gear drive

10. epicyclic gear train ball screw drive

11. EML 2023 Department of Mechanical and Aerospace Engineering Design Choices Open-loop or closed-loop control? open-loop well suited for remote control using a joystick computer control can be implemented using a stepper motor closed-loop requires a sensor to measure the motor’s rotation angle

12. EML 2023 Department of Mechanical and Aerospace Engineering Design Choices What power source will be used? electric servo motor How much power is needed? experiment or perform analysis (very little torque will be needed to rotate the labyrinth board ; further the rotational speed will be very low) Is a speed reducer needed? yes Open-loop or closed-loop control? closed-loop

13. EML 2023 Department of Mechanical and Aerospace Engineering how does the computer cause the motor to turn? How does this work? desired steering angle motor gear reducer how is the motor connected to the steering shaft? how does the computer know the current steering angle?

14. EML 2023 Department of Mechanical and Aerospace Engineering Motor and Gear Box how is the motor connected to the steering shaft?

15. EML 2023 Department of Mechanical and Aerospace Engineering Motor and Gear Box

16. EML 2023 Department of Mechanical and Aerospace Engineering motor with gear reducer flex coupling

17. EML 2023 Department of Mechanical and Aerospace Engineering Servo Motor Control select means of angle measurement –optical encoder incremental absolute –potentiometer –resolver how does the computer know the current steering angle?

18. EML 2023 Department of Mechanical and Aerospace Engineering Incremental Optical Encoder this disk has 12 slots (30º resolution) typical incremental encoders have up to 2540 counts per revolution (0.142º resolution) ($488.41 each at McMaster-Carr)

19. EML 2023 Department of Mechanical and Aerospace Engineering Incremental Optical Encoder

20. EML 2023 Department of Mechanical and Aerospace Engineering you can count pulses, but which way is it rotating? Incremental Optical Encoder

21. EML 2023 Department of Mechanical and Aerospace Engineering an encoder will typically also have an index that will ‘blink’ once each revolution Incremental Optical Encoder

22. EML 2023 Department of Mechanical and Aerospace Engineering quadrature:- there are 4n ‘events’ per one revolution of the disk - the resolution can in effect be four times the number of slots Incremental Optical Encoder

23. EML 2023 Department of Mechanical and Aerospace Engineering note:many encoders will have an index that will pulse once per revolution Incremental Optical Encoder

24. EML 2023 Department of Mechanical and Aerospace Engineering cost:$41.67 Honeywell / Clarostat 600128CN1 Allied Electronics part # 753-0059

25. EML 2023 Department of Mechanical and Aerospace Engineering problem:- you start up the device - where are you when you start? Incremental Optical Encoder

26. EML 2023 Department of Mechanical and Aerospace Engineering Absolute Optical Encoder BEI brand encoder BEI brand encoder $455

27. EML 2023 Department of Mechanical and Aerospace Engineering how does the computer cause the motor to turn? How does this work? desired steering angle motor gear reducer how is the motor connected to the steering shaft? how does the computer know the current steering angle? incremental optical encoder with homing switch to initialize position gear reducer and flex couplings (if needed) computer controls the current going to the motor

28. EML 2023 Department of Mechanical and Aerospace Engineering How does the computer control the motor? control the current (via the voltage)

29. EML 2023 Department of Mechanical and Aerospace Engineering optical encoder motor with gear reducer flex coupling limit switchhoming switch

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36. EML 2023 Department of Mechanical and Aerospace Engineering Servo Motor Control we will use a Galil motor control card to vary the current to the motor based on the error in the steering shaft angle

37. desired position

38. EML 2023 Department of Mechanical and Aerospace Engineering Homing and Limit Protection we need to add a switch to set the homing position we need to have overshoot switches

39. desired angle terminal program provides a user interface where we can send commands to change the steering angle

40. EML 2023 Department of Mechanical and Aerospace Engineering optical encoder motor with gear reducer flex coupling limit switchhoming switch

41. EML 2023 Department of Mechanical and Aerospace Engineering