Motors for Makers A Guide to Steppers, Servos, and Other Electrical Machines

Introduction 1

Who This Book Is For 2

How This Book Is Organized 2

Let Me Know What You Think 3

I Introduction

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

II Exploring Electric Motors

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 534 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

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 1378.4 Homopolar Motors 140

8.5 Summary 143

III Electrical Motors in Practice

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

11 Controlling Motors with the

BeagleBone Black 195

11.1 The BeagleBone Black (BBB) 196

11.2 Programming the BBB 198

11.3 PWM Generation 205

11.4 The Dual Motor Controller

Cape (DMCC) 207

11.5 Summary 213

12 Designing an Arduino-Based

Electronic Speed Control

(ESC) 215

12.1 Overview of the ESC Design 216

12.2 Switching Circuitry 21812.3 Zero-Crossing Detection 225

12.4 Designing the Schematic 229

12.5 Board Layout 232

12.6 Controlling the BLDC 234

12.7 Summary 239

13 Designing a Quadcopter 241

13.1 Frame 242

13.2 Propellers 243

13.3 Motors 248

13.4 Electronics 250

13.5 Construction 259

13.6 Summary 260

14 Electric Vehicles 263

14.1 Electric Vehicle Conversion 264

14.2 Modern Electric Vehicles 267

14.3 Patents from Tesla Motors 272

14.4 Summary 278

IV Appendixes

A Electric Generators 279

A.1 Overview 280

A.2 DC Generators 281

A.3 AC Generators 283

A.4 Summary 286

Motors for Makers A Guide to Steppers, Servos, and Other Electrical Machines

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