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
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