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Registered Member #103
Joined: Thu Feb 09 2006, 08:16PM
Location: Derby, UK
Posts: 845
Any ideas what control scheme you are going to use in software? It is fairly easy to set up the capcom unit to generate a variable voltage via PWM, but I'd recommend having some kind of current feedback if you're controlling a large motor. This enables you to have full control over the motor, including regeneration - a control loop running with current feedback is very handy, because if you give the control loop a current reference/command of zero, and if you control loop is working properly, then zero current = zero effort = the motor coasts, without having to do any of this weird tristate stuff (simply put, the control loop balances the EMF from the motor when the current ref is 0, no braking or regen current is flowing). This is how I have implemented a coast function on a large electric vehicle, similarly regen braking is performed by giving it a (variable) negative current limit, using the same control loop. This might not even apply if you are just running a small motor but I thought it might be helpful
Registered Member #51
Joined: Thu Feb 09 2006, 04:17AM
Location:
Posts: 263
Thanks for the input, I think ill try just an open loop control setup with locked anti-phase PWM to start. This controller is for a 1-3 pound radio controlled robot with very small motors.
I actually needed to design the H-bridge setup for a 4 channel board for a repulsion based levitation design I am working on, but I figured I might as well get the design for an antweight combat robot controller done as well.
Edit: thinking about it now, I actually have everything that would be needed for current sensing on this board already, except for 2 small jumper wires so the microcontroller can sample the chips' outputs. If i need current sensing later, I will simply add the wires.
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Simple question about H-bridge motor controller
