Stepper and Hbridge

8/9/2019 Stepper and Hbridge

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Eric Taseski, Yihe Huang, Ronak

Mehta

H-Bridges and Stepper Motors

2


3/27

Standard DC Motors

Speed determined ! "o#tage #e"e#$

Motor

%cc

&

'(D

) -- )


4/27

Stopping

(o mo"ement, ho#ds position$

*

Motor

%cc

'(D

ST+


5/27

ree Spinning

Disconnected, does .hate"er it .ants$

/

Motor

%cc

'(D


6/27

0hat i !ou .ant precision

3


7/27

Stepper Motors4

recision mo"ement "ia

stepping

Can count re"o#utions

Can rotate continuous#! un#ike

a standard ser"o

5


8/27

Ho. Stepper Motors 0ork

Di"ides a u## rotation into a numer o steps$

Mo"e one 6step7 at a time$

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9/27

Stepper Motors

1$ The hori9onta# pair is

dri"en .ith po.er in one

direction$ This pu##s the

opposite#! po#ari9ed teeth

to a#ign .ith them$

2$ The hori9onta# pair is

de-energi9ed, and the

"ertica# pair is energi9ed$

&$ The "ertica# pair is de-

energi9ed, and the

hori9onta# pair is energi9ed

in the opposite direction$

*$ The hori9onta# pair is de-

energi9ed, and the "ertica#

pair is energi9ed in the

opposite direction$

:


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Ho. Stepper Motors 0ork

1;


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Stepper Modes< 0a"e Mode

http


12/27

Stepper Modes< u## Step Mode

http


13/27

Stepper Modes< Ha# Step Mode

http


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1*

http


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Stepper Motors Contd$

http


16/27

Ho. do .e po.er them

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H-Bridges4

>##o.s #o. "o#tage #ogic

.hi#e dri"ing eterna#

po.er to motors$

Easi#! contro# current in

oth directions, a##o.ing

motors to mo"e or.ards

and ack.ards$

seu# or DC motors,

stepper motors, ser"os,

so#enoids, etc$

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18/27

H-Bridges

Each ha# ridge is a transistor .ith an

ena#e$

F+0 %o#tage Gnput Contro# Fogic

HG'H %o#tage +utput

Motor %o#tage

Fogic Ena#e

Motor

Fogic Gnput

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19/27

H-Bridges

1:

E( 1,2

E( &,*

Gnput 1

Gnput 2

Gnput &

Gnput *

+utput 1

+utput 2

+utput &

+utput *

%cc, Motor Supp#! %o#tage

'(D


20/27

H-Bridge inout

-E( pins ena#e output ?1 E( pin per pairA

->7s are contro# inputs

-Y7s are outputs

-%cc1 is circuit #ogic "o#tage

-%cc2 is the motor supp#!-'rounds go to ground

http


21/27

u##-Bridge .ith DC Motor

21

Motor

) -

Ena#e

Gnput >

Gnput B

ENABLE Input A Input B Result

1 1 ; Motor turns C0

1 ; 1 Motor turns CC0

1 ; or 1 ; or 1 ast Stop

; ; or 1 ; or 1 ree Spin

1

;

1

;

1

1

- )


22/27

Ho. to .ire up a stepper motor

and the F2:&D

Fet side can e adapted to our Smartusion kits$

?codepro@ect$comA 22


23/27

Protips #1-4

1. Heatsinks, or drive low to all pins to not drive urrent

!. Non-ne"li"ile volta"e drop aross H-Brid"e

$. %ar&in" P'( )ut& *&les an e used on ENABLE to

ontrol volta"e supplied +speed ontrol

4. reuen& response o/ 0otor

Low P'( /reuenies 0a& reate audile u or 2u0

Hi"2 P'( /reuenies waste power

2&


24/27

Reerences

F2:&D ep#anation .ith Stepper Motor detai#s<

httprtic#es=1/153&=Motor-rimer-and-the-F2:&D-uad-Ha#-H-Dri"er

Stepper motor conigurations .ith microcontro##er pins<

http


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Backup S#ides

2/


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H-Bridge .ith DC Motor

31 3! 3$ 34 Result

1 ; ; 1 Mo"e C0

; 1 1 ; Mo"e CC0

; ; ; ; ree Spin

; 1 ; 1 Brake

1 ; 1 ; Brake

1 1 ; ; Shoot-through

; ; 1 1 Shoot-through

1 1 1 1 Shoot-throughhttp


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Microstepping

Ha# stepping .ith sinusoida# transitions et.een steps a##o.ing theoretica##!

ininitesima##! sma## step si9es$

http

Stepper and Hbridge

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