Motion Control

Motion Control projects are 600-series. Projects between Measurement Instruments (200 series) and Motion Control are 500-series.

DYN501 Benchtop Dynamometer 

Benchtop dynos for motor characterization are specialized and costly instruments, limiting their availability. The Innovatia scheme constructs a dyno from low-cost components using either a brush or PMS motor as an active load - as a generator. Once characterized, this generator also functions as a torque and speed sensor. 

Winding-Sensed PMS Motor-Drives

Field-oriented step-motor control eliminates the resonances and loss of dynamic control due to open-loop microstepping of step-motors. The motor instead behaves like a dc brush motor, even when changing speed. Instead of pulsing the rotor from one equilibrium position (step) to the next, field-oriented or vector  control continually maintains correct drive phase at all rotor positions to produce constant, maximum torque.

SMA641 StepMaster

This is a two-phase step-motor drive with shaft encoder feedback of position (phase). Originally designed with an AD2115 DSP, the project goal is to convert it to having an AVR AT90PWM2B microcomputer and eliminate the discrete-logic dual PWM. The amplifier gate drivers are also to be replaced with a more up-to-date integrated circuit. The software is written in 2115 DSP code and commented. It can be ported to an AVR (or ARM) controller.

SMA642 StepMaster

This is the winding-sensed ("sensorless") version of the SMA641 for two-phase PMS step-motor drive and control. It has a dual DAC multiplier, phase detector and VCO built into software for magnitude and phase control. This is a leading-edge design that lacks only the provision of extending its operation above the no-load speed with an additional phase control algorithm.

Vector-summed precision phase control  is a novel application of leading-edge motor theory that has led to a breakthrough in accurate six-step PMS motor control for cost-sensitive applications. This tech report describes in detail how step advancement is achieved by sensing motor phase directly, from its induced terminal voltages, and combining winding voltages vectorially to produce waveforms that correctly commutate the motor at their zero-crossings. The result is more and smoother torque and requires few parts to implement.

SMK601 StepMaker

This 3-phase PMS motor drive is winding-sensed ("sensorless") and controls phase in the 6-step sequence. With minimal analog electronics, it is based on an innovation from Innovatia that is implemented in the design with a UC3625 bridge driver and one quad comparator and resistors for phase sensing from the motor windings.

SMK602, SMK603 StepMaker

A 3-phase, 6-step PMS motor winding-sensed speed control drive with a power driver with IR2112 gate drive, output of 150 V, and an AVR2313 controller with RS232 serial-port interface. The SMK603 variant is for 48 V out and has a discrete BJT bridge driver. Both use the Innovatia phase-sensing scheme for 6-step sensing.

SMK621, SMK622 StepMaker

The SMK601, SMK602 with torque control instead of speed control.

GMC601 Gear-Motor Controllers

The design of electrical actuators/controllers for gear-motors, used to actuate high-torque, low-speed mechanical devices such as quarter-turn ball and multi-turn valves, or solar trackers, is explained in the project manual based on two designs: an optically-sensed, single-direction controller, and the VC1, which uses Hall-effect devices and adjustable-position magnets to set opened and closed positions or limits. The VC1 manual; explains the detailed designs, gives test waveforms, and describes applications problems and faults to avoid.

Quarter-turn ball-valve or multi-turn valve fluidic control

Position control of low-speed, high-torque mechanics

Computer interface or manual control

Single board prototype hardware mounts on Grainger line of gear motors

This project has completed the evaluation phase and has achieved prototype release. Innovatia Assistants can request the project manual and build or buy a VC1. Several Limited Edition prototypes are in inventory in the Lab.

DTC601 Dual Temperature Fan Controller

This data acquisition and control design, based on the miniDAS, controls up to two fans while sensing differential temperature with thermistors, both outside and inside the controlled space. The prototypes are working and a project manual is available. The 6502-based design can be replaced by another mC such as an AVR AT328. Software is available in Forth and 6502 code with commenting.

SMC620 Quad Brush-Motor Drive

This is four PWMed linear power amplifiers for controlling up to four brush motors (electromechanically phase controlled in the motor). Inquire.

IAP601, IAP602 Anapot

The IAP601 is an opto-isolated analog potentiometers by function - a 0 V to 4 V input, linear optocoupler, and LM13700 multiplier have a 10 kW three-terminal output: VP+, VPW, and VP-. It is in the 600 series because it can replace an anlog pot on a motor speed control with an isolated control from a DAC for computer control. Power is a 15 V input to an isolated flyback supply outputting +15 V and -15 V. Inquire.

The IAP602 is a potentiometer emulator and is not isolated. Inquire.


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