Servo Motor Control

Basic computer control of motor position and velocity

But first - announcements

Due Friday: basic requirements list and one paragraph explanation 5% of your final grade On your web site (web site is 10% of your final grade) Post your meeting schedule CHC Tour on Thursday at 9:30 am Next Monday short programming exam not graded

position
Time ->

servo motor control

1.0

1.25

1.5

1.75

1.0

1.25

1.5

1.75

1.0

1.25

1.5

1.75

stepper motor control

velocity
Time ->

dp/dt

position
Time ->

Same distance, half speed.

velocity
Time ->

+dp/dt

ev
+-

position
Time ->

ep

Tachometer Encoder

velocity
Time ->

+dp/dt

Bv + Gvev

position
Time ->

+-

Bp + Gpep
Tachometer

Encoder

++

Bff + (Pt+1 + Vt+1)Gff

time (t+1)

velocity
Time ->

+dp/dt

Bv + Gvev

position
Time ->

+-

Bp + Gpep
Tachometer

Encoder