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EML 2023 – Motor Control
Lecture 1 – Closed Loop Motor Control
EML 2023Computer 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
EML 2023Department of Mechanical and Aerospace Engineering 3
Open Loop Control
Motor Driver
desired change in position current
Computer and DAQ
Motor
analog speed signal
digital direction signal
EML 2023Department of Mechanical and Aerospace Engineering 4
Closed Loop Control
Motor Driver
desired position current
Computer and DAQ
Motor
analog speed signal
digital direction signal
Encoder
sensed actual position
EML 2023Department of Mechanical and Aerospace Engineering 5
Closed Loop Control
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
EML 2023Department of Mechanical and Aerospace Engineering 6
Closed Loop Control
Motor Driver
desired position current
Computer and DAQ
Motor
analog speed signal
digital direction signal
Encoder
sensed actual position
power supply
EML 2023Department of Mechanical and Aerospace Engineering 7
Closed Loop Control
Motor Driver
desired position current
Computer Motor
Encoder
sensed actual position
power supply
digital direction signal
analog speed signal
EML 2023Department of Mechanical and Aerospace Engineering 8
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?
Motor Driver
desired position
currentComputer and
DAQMotor
analog speed signal
digital direction signal
Encoder
sensed actual position
