Differences

This shows you the differences between two versions of the page.

--- en:exercises:motor [2010/02/28 21:40] – priitj
+++ en:exercises:motor [2020/07/20 09:00] (current) – external edit 127.0.0.1
@@ Line 3: / Line 3: @@
 ===== Warm up exercise =====
-  * Controlling the DC motor using a digital board. By pressing S1 button, LED1 is lit and the motor turns clockwise. By pressing S3 button, LED3 is lit and the motor revolves anti clockwise. By pressing S2, LED2 is lit and the motor is stopped.
+  * Controlling the DC motor using buttons of a User Interface module. By pressing S1 button, the motor turns clockwise. By pressing S3 button, the motor revolves clock-counterwise. By pressing S2, the motor is stopped.
-===== For rookies =====
+===== For beginners =====
-   - Robot, by using two DC motors and touch sensors movement of a robot is simulated. Touch sensors are the buttons of the digital board (S1…S3). The motor is controlled by pressing the buttons. S1 stops the left motor for 2 seconds and then starts both motors at full speed. S2 stops the right motor for two second and then starts both motors at full speed. If both buttons are pressed, the motors are rotating in reverse direction until the buttons are released
+  - DC motor control. Movement of a robot is simulated, by using DC motor and touch sensors. Touch sensors are the buttons S1, S2 and S3 of the User Interface module. The motor is controlled by pressing the buttons. S1 and S2 pressed separately stops the engine for two seconds and then start motor again. If both buttons are pressed, then the motor is stopped until the buttons are released. (For a robot, similar scheme should be implemented to control two separate motor).
-   - Servo motor, the servo motor is controlled via the buttons of the digital board. By pressing down S1 the servomotor moves one step to the right. By pressing down S3, the servo motor moves one step to the left and S2 makes the servomotor to move to the initial (middle) position. The position of the servo motor is displayed live on the 7 segment display (each number corresponds to 10 degrees of the turn: middle position equals 5).
+  - DC motor accelerates when S1 is pressed down and holds achieved speed when the button is released. By holding S2 pressed down, the motor decelerates smoothly. By pressing button S3, the motor stops instantly.
-  - Radar, functioning of radar is simulated. In order to identify objects closer than 0,5 meters, IR distance sensor is installed to the lever of the servo motor. The lever of servo motor is moving constantly form one extreme position to the other and it carries this sensor all the time with itself. If there happens to be an object in closer range than 0,5 meters of the sensor, then the servo motor is stopped for 5 seconds and by signaling a LED (PB7) on the controller board detection of the object is announced.
+  - Servo motor, the servo motor is controlled via the buttons of the User Interface module. By pressing down S1 the servomotor moves one step to the right. By pressing down S3, the servo motor moves one step to the left and S2 makes the servo motor to move to the initial (middle) position. The position of the servo motor is displayed live on the 7 segment display (each number corresponds to 10 degrees of the turn: middle position equals 5).
-  - Stepper motor, after each pressing on the buttons S1 and S3 it rotates 10 steps, accordingly clock wise and anti clock wise. The rotation is stopped immediately by pressing on the button S2.
+  - Radar, UH sensor based radar is simulated. Sensor is installed to the lever of the servo motor. The lever of servo motor is moving constantly form one extreme position to the other. If there happens to be an object in closer range than 0,5 meters of the sensor, then the servo motor is stopped for 5 seconds and by signaling a LED that detection of the object is announced. After 5 seconds of flashing of the LED, scanning continues.
-  - All three different types of the motors are connected. By pressing a button it starts and stops a certain motor. S1 controls the DC motor. S2 controls the servo-motor and S3 controls the stepper-motor.
+  - Stepper motor, after each pressing on the buttons S1 and S3 it rotates 50 steps, accordingly clock wise and anti clock wise.
 ===== For advanced =====
-  - Alalisvoolu mootor kiirendab S1 nupu allavajutamisel ning hoiab S1 nupu vabastamisel saavutatud kiirust. S2 nupu allavajutatud asendis hoidmise ajal mootor aeglustub sujuvalt. S3 allavajutamisel peatub mootor  viivitamatult (simuleerides avariipeatamist).
-  - Objekti jälgimine. Kasutades ultraheli kaugusandurit, mis on paigaldatud servomootori hoovale, peab servomootor jälgima mööduvat objekti. Mootor pöörab vastavalt objekti liikumisele nii, et objekt oleks kogu aeg anduri vaatevälja keskel.
+  - Tracking an object. By using ultrasonic distance sensor, which is installed on the lever of the servo-motor, the servomotor has to track a bypassing object. The motor turns according to the movement of the object so that the object is all the time in the middle of the tracking sector of the sensor.
-  - Samm-mootor säilitab mootori viimase asendi pärast iga jada muutust. Uue jada aktiveerimisel kasutage muutujat, et jätkata liikumist täpselt viimasest mootori asendist.
+  - Using a stepper motor, make a second dial of the analog clock. The motor must be make exactly 60 steps on one complete rotation. Movement should be stepped and not smooth.
-  - Kiirendus. Programm võimaldab muuta samm-mootori kiirendamist/aeglustamist. Kasutage lineaarseid kiirusekaldeid, mida saab visuaalseks ülevaatuseks lihtsalt tuvastada. Pikemad liikumised peavad toimuma järgmise skeemi järgi: kiirendamine --> püsiv kiirus --> aeglustamine.
+  - Acceleration, the program allows changing the acceleration/deceleration of the stepper motor. Use linear speed slopes which can be easily identified at visual inspection. Longer movements have to follow the following scheme: acceleration --> steady speed --> deceleration.
-  - Koostage alalisvoolu mootorile PID regulaator. NB! Harjutus vajab tagasisidega mootorit. Ülesande võib lahendada ka teoreetiliselt.
+  - Design a PID regulator (or its simplified form) for a DC motor. NB! This exercise demands a motor with feedback (encoder).
+  - DC motor. The DC motor is controlled via the buttons of the User Interface module. By pressing down S1 the motor moves one step (x encoder pulses) to the left. By pressing down S3, the motor moves the same amount of steps to the back. The motor rotates exact amount of a predetermined steps, regardless of a torque applied to the shaft (in the case where applied torque is less than the engine maximum output torque).
-====== Kordamisküsimused ======
+====== Questions ======
-  - Milleks kasutatakse H-silda? Mis on selle toimeprintsiip?
+  - For what is the H-bridge used? On what principle is it working?
-  - Kuidas on määratud RC servomootori võlli asend?
+  - How is the position of the shaft of RC servo motor determined?
-  - Milline on põhierinevus uni- ja bipolaarsamm-mootorite vahel?
+  - What is the main difference between unipolar- and bipolar-stepper motors?
-  - Kuidas rakendada samm-mootoris poolsamm- ja mikrosammrežiime? Tooge näide.
+  - How can half step and micro step modes of stepper-motor be applied? Give an example.
-  - Kuidas juhitakse alalisvoolu mootori pöörlemiskiirust? Tooge näide.
+  - How is the rotation speed of a DC motor controlled? Give an example.
-  - Millist pulsilaiuse modulatsiooni (PWM) töötsüklit on vaja, et saavutada alalisvoolu mootori võlli pöörlemiskiiruseks 70% nominaalsest pöörlemiskiirusest?
+  - Which PWM working cycle is needed to achieve DC motor's shaft rotation speed 70% of nominal?
-  - Kuidas määratakse enkoodri kasutamisel mootori pöörlemissuund?
+  - How is the direction of motor's rotation determined when encoder is used?
-  - Kuidas saab alalisvoolu mootorit elektriliselt pidurdada?
+  - How can a DC motor be electrically slowed?
-  - Mis juhtub, kui samm-mootori puhul kommutatsiooniskeem muutub liiga kiiresti?
+  - What happens if the scheme of commutation of a stepper-motor is changing too fast?
-  - Kas ja kuidas on võimalik kasutada dünaamilist pidurdamist?
+  - Is it possible and if yes, how is it possible to use dynamical braking?

en/exercises/motor.1267393209.txt.gz · Last modified: 2020/07/20 09:00 (external edit)