Society of Robots - Robot Forum
Electronics => Electronics => Topic started by: avel on February 09, 2011, 07:22:10 PM
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How would I wire in a shaft encoder? I am controlling two motors in parallel from an Electronic Speed Controller that operates at 2khz. The output from the motor to the wheels is almost 1:1, and I need better slow speed control. Now the motor lurches because the load changes, and sometimes I have to apply more power to start off then immediately lower power for smooth control. I have read about Back EMF, or just EMF and its use to ensure that the motor spins at the same rate regardless of the load, but I would like to try using a shaft encoder for now if it can be used to automatically regulate the motors rpm's.
Sorry if this is confusing, I am not good at communications.
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How would I wire in a shaft encoder?
That depends on which encoder you have.
The first part of your task is finding (buying) or building an encoder that fits the shaft on your motor/wheel.
Now the motor lurches because the load changes, and sometimes I have to apply more power to start off then immediately lower power for smooth control.
Is the Top speed of your motor usable on your Bot? If the Bot goes too fast at half or less of the motor's top speed then consider a speed reducer (gears or other). This would also help deduce 'lurching' and smooth out starting off.
try using a shaft encoder for now if it can be used to automatically regulate the motors rpm's
Whatever type of encoder you use it needs to be feed-back into the motor's speed control. Does your ESC have this provision? Data sheet link? Does the manufacture of this ESC have encoders?
Is your ECS control, motor speed command, from an RC receiver/transmitter or a micro-controller?