Single MOSFET and relay based DC motor driver for navigational robots
Tóm tắt
DC Motors are widely used in robotics, automotive sectors and consumer electronics. Conventional motor drivers use a configuration called as the H-bridge which consists of four switching devices that help to control the speed and direction of the motor. Increasing the number of switching devices not only increases the complexity of the circuit but also increases the cost of the overall system. This paper suggests a novel method of bi-directional control of a DC motor using only one Mosfet and two relays. The speed as well as the direction of the DC Motor can be controlled along with braking. Relays being electro-mechanical in nature are not easily damaged thereby increasing the Mean Time between Failure of the system. The isolation between the microcontroller and the switching device also protects it from damage. The shoot-through effect which is commonly observed is also eliminated using this design. The simulation and performance of the system along with the criteria for choosing the right driver and mosfets has been mentioned in this paper.
Tài liệu tham khảo
Gupta V (2010) Working and analysis of H-bridge motor drive circuit designed for wheeled mobile robots. In: International conference on advanced computing and control, 2010
Taufik M, Tahlman E (2006) A Miniature 5.5 Amp DC Motor Drive. IEEE ISIE, 2006
Akagi H (2003) Trends in power electronics and motor drives. In: The fifth international conference on power electronics and drive system, 2003
Carroll JJ, Schneider M, Dawson DM (1993) Integrator backstepping techniques for tracking control of permananent magnet brush DC Motors. Industry Applications Society, 1993
Chen HC (2013) An H-bridge driver using gate bias for DC motor control. In: IEEE 17th international symposium on consumer electronics, 2013
Mehta K, Jain P, Mecwan A, Kothari D, Chauhan M (2014) Design implementation of high performance DC motor drive. In: Advances in computing, communications and informatics
Mulay G, Yembarwar A, Raje S (2014) A DC motor driver consisting of a single MOSFET with capability of speed and direction control. In: 2014 IEEE 6th India international conference power electronics (IICPE), 2014
Hercules Motor Driver. http://www.nex-robotics.com/products/motor-drivers/dc-motor-drivers/hercules-series-motor-drivers/hercules-6v-24v-16amp-motor-driver-with-built-in-current-sensor.html
International Rectifier (2001) HEXFET Power MOSFET, IRFZ44N, 2001
Dunn J (2004) Matching MOSFET drivers to MOSFETs. Microchip Technology Inc., 2004
TOSHIBA (2004) TOSHIBA Photocoupler, GaAlAs Ired & PhotoIC, TLP250 Datasheet, 2004
Stuart R (2004) Ball, Motors. Analog interfacing to embedded microprocessor systems. Elseveir, Burlington, p 192
Klimo R, Cheng B, Felty D, Ricci B, Cole C. Selecting non-friction stopping methods [Online]. Available: http://machinedesign.com/sensors/selecting-nonfriction-stopping-methods
Simulink Controller. http://ctms.engin.umich.edu/CTMS/index.php?example=MotorPosition§ion=SimulinkControl
MAXON (2015) Graphite Brushes, 150 Watt RE40 Datasheet, 2015
Ye S. Industrial Co., Ltd. , Planetary Gear, IG420014 Datasheet
Sabertooth 2x25, https://www.dimensionengineering.com/products/sabertooth2x25
Eagle Schematic, Layout and Autorouter, Version 6.1.0, http://www.cadsoftusa.com/