09

OUTPUT DEVICES

This week, I learned to drive a DC motor for my final project. As I need to deal with tubes of various sizes, I decidede to use torque as an control endpoint. As I found, there are two ways to achieve torque control: first is by controling the voltage/current; and another is by adding a torque meter to achieve closed-loop control. After getting suggestions from TAs, I realized that just using a geared DC motor with a specific voltage is the easiest way to do this.

Contorling the motor requires a H bridge circuit, that is included in a motor driver. I adopted TB67H451FNG as my driver and read the datasheet. Following this examples, I milled the board and successfully run the motor.