A Guide to Steppers, Servos, and Electrical Machines

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A Guide to Steppers, Servos, and Electrical Machines

Introduction

A Guide to Steppers, Servos, and Electrical Machines

    As the title should make clear, this is a book for makers. If you’re looking for a textbook on phasor diagrams and Maxwell’s equations, this isn’t the book for you. If you’re looking for practical information related to motor operation and control, you’ve come to the right place. If you want to know about the different types of motors and what they’re good for, this is the book to have. I’ve done my best to make motors comprehensible to non-engineers, but this book is not for beginners. In writing this book, I assume that you already know about volts, amps, and ohms. Further, I assume that you can look at a simple circuit diagram and get a sense for how the system works.

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Table Of Contents

1 Introduction to Electric Motors 5

1.1 Brief History 6

1.2 Anatomy of a Motor 7

1.3 Overview of Electric Motors 9

1.4 Goals and Structure 11

1.5 Summary 11

2 Preliminary Concepts 13

2.1 Torque and Angular Speed 13

2.2 Magnets 18

2.3 Equivalent Circuit Element 21

2.4 Power and Efficiency 23

2.5 Summary 25

3 DC Motors 27

3.1 DC Motor Fundamentals 28

3.2 Brushed Motors 34

3.3 Brushless Motors 42

3.4 Electronic Speed Control (ESC) Systems 49

3.5 Batteries 51

3.6 Summary 53

4 Stepper Motors 55

4.1 Permanent Magnet (PM) Steppers 56

4.2 Variable Reluctance (VR) Steppers 59

4.3 Hybrid (HY) Steppers 61

4.4 Stepper Control 63

4.5 Summary 71

5 Servomotors 73

5.1 Hobbyist Servos 74

5.2 Overview of Servo Control 78

5.3 PID Control 85

5.4 Summary 87

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6 AC Motors 89

6.1 Alternating Current (AC) 90

6.2 Overview of Polyphase Motors 91

6.3 Asynchronous Polyphase Motors 96

6.4 Synchronous Polyphase Motors 100

6.5 Single-Phase Motors 103

6.6 AC Motor Control 106

6.7 Universal Motors 109

6.8 Summary 110

7 Gears and Gearmotors 113

7.1 Overview of Gears 113

7.2 Types of Gears 117

7.3 Gearmotors 124

7.4 Summary 125

8 Linear Motors 127

8.1 Linear Actuators 128

8.2 Linear Synchronous Motors 131

8.3 Linear Induction Motors 137

8.4 Homopolar Motors 140

8.5 Summary 143

9 Motor Control with the Arduino Mega 145

9.1 The Arduino Mega 146

9.2 Programming the Arduino Mega 149

9.3 The Arduino Motor Shield 158

9.4 Stepper Motor Control 162

9.5 Servomotor Control 166

9.6 Summary 168

10 Motor Control with the Raspberry Pi 171

10.1 The Raspberry Pi 172

10.2 Programming the Raspberry Pi 174

10.3 Controlling a Servomotor 182

10.4 The RaspiRobot Board 186

10.5 Summary 192

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