Subject:
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Re: Balancing robots
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Newsgroups:
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lugnet.robotics
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Date:
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Sat, 24 Jan 2004 19:22:31 GMT
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Original-From:
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PeterBalch <peterbalch@compuserveIHATESPAM.com>
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Viewed:
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986 times
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Jim
Motors are such tricky things.
> Um, the back-EMF of the motore isn't related to the motor load per se but
> rather the relaxation of the current in the coil when it moves off the
> stators.
My understanding is
I = the current through the motor
V = the voltage accross the motor
R = the internal resistance of the motor
the motor torque is proportional to I
the motor speed is proportional to V-IR
Assume that the motor is being controlled by a PWM signal.
Do you recommend measuring the voltage when the motor transistors are
switched on or off? Off sounds easier because then you don't have to worry
the internal resistance. But maybe it's harder because of the spike from
the collapsing coil magnetic field.
Either way it will have to be averaged over several milliseconds to
compensate for the commutator.
Have you tried it? Does it work? How accurate it it?
> F=BILsin(theta)
> E=Bc
I presume
F = force
I = current
L = motor inductance?
E = voltage
c = capacitance of what?
What are B and theta ?
Peter Balch
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