From: Subject: 4QD-TEC: Tacho generator amplifier Date: Wed, 10 Aug 2011 10:27:52 -0700 MIME-Version: 1.0 Content-Type: multipart/related; type="text/html"; boundary="----=_NextPart_000_002F_01CC5748.29269D00" X-MimeOLE: Produced By Microsoft MimeOLE V6.00.2900.6109 This is a multi-part message in MIME format. ------=_NextPart_000_002F_01CC5748.29269D00 Content-Type: text/html; charset="Windows-1252" Content-Transfer-Encoding: quoted-printable Content-Location: http://www.4qdtec.com/tacho.html 4QD-TEC: Tacho generator amplifier
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4QD-TEC
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4QD-TEC: Electronics Circuits Reference Archive
Tacho generator = motor=20 speed feedback

This page is a bit different from most in that it covers the use of = tacho=20 generators as feedback elements in motor control systems. It also covers = a=20 'Tacho Feedback Board' extra for our Pro-120 and other controllers. It = also=20 includes the circuit diagram. It thus should be of interest not only to=20 potential customers but also to electronic engineers. If you have come = here=20 straight from 4QD's home page, you might care to read the section of our = 'Battery Motors and Controllers' FAQ sheet containing a discussion of Closed Loop = Controls.=20

Most battery motor speed controllers are under manual control and the = operator automatically adjusts speed to match demand. Under these = conditions=20 closed loop motor speed control is an unnecessary expense. However, when = it is=20 required, a tachogenerator can easily be added.=20

True tachogenerators are usually expensive - which puts off most = potential=20 users. The expense is because they are very accurately manufactured and=20 calibrated. They are also low volume items. However for most uses a = small=20 permanent magnet motor is perfectly adequate. It won't come with an = accurate=20 'volts per rpm' calibration and it may (just possibly) drift over = several years.=20 For most purposes this simply does not matter!=20

With any tacho feedback system, the loop gain (controller, motor, = tacho,=20 tacho amplifier) must not be more than unity or instability results.=20

To put that more simply: the feedback system must alter the output = voltage to=20 the motor so that the motor voltage is raised to exactly match the drop = in the=20 motor armature caused by the current flowing, so the mechanical speed = remains=20 constant.=20

If the loop over compensates, then the motor will go too fast if = loaded and=20 will 'hunt' - the speed will be unstable and will bounce about. If the=20 compensation is too little - perfornance will be less than optimum.=20

However - there are a lot of variables, including battery voltage and = motor=20 temperature. An ideal system would measure everything and compensate for = it (and=20 be very expensive!). In practise, adjustment is quite easy: you will = simply=20 include a pot in series with the motor used as the tacho generator and = will=20 adjust this until the motor starts to hunt (show speed variation), then = back it=20 of a bit until it is slightly below optimum.=20

Tacho generator rectifier: the circuit

As well as being our TFB, part of this (the 3 LH sections of the quad = op-amp)=20 is actually the circuit that we use in the 4QD series controllers to = provide=20 armature voltage feedback. It is a precision rectifier circuit with = error=20 amplifier and it can either detect the armature voltage or the voltage = from a=20 tacho generator to provide closed loop control.=20

The output stage is an integrator to remove the d.c. component of the = error=20 signal.=20

3Dtachocct/png

The board is built in two versions (Pro-120 and VTX or NCC) but the = only=20 difference is the connector - 9 way for Pro (black numbers) and 6 way = for VTX.=20

The circuit uses a quad op-amp type LM324. The first two stages are = are=20 straight forward difference amplifiers that compare the two wires from = the tacho=20 generator. One works for positive voltages and the other for negative.=20

Now the circuit is used from a single supply. Therefore the op-amp = outputs=20 cannot swing negative. Therefore one amplifier gives a positive output = for one=20 tacho generator direction and the other for the reverse direction. The = third=20 section of the op-amp sums the outputs, the result is a rectified = version of the=20 input.=20

There is a snag in using an op-amp thus. On the inputs which should = swing the=20 output negative, the op-amp is in fact cut-off and the output is not = conducting.=20 The inputs are outside their working range, so they cannot clamp the = control=20 signal. There is then a straight feed-forward path via the 'feedback' = resistor=20 to the inoperative output.=20

That mechanism explains the 10K load resistors from the outputs of = the first=20 two stages of the op-amp to earth. These, in conjunction with the 3 100K = resistors in the feed-forward path, form an attenuator so that the error = from=20 feed-forward is reduced to around 3%. It may interest browsers to know = that the=20 circuit was first used with an LM3900 (which is a Norton op-amp) where = the=20 inputs can never rise above one transistor Vbe above 0v. With this, the=20 feed-forward effect is not noticeable and the clamping resistors are not = required. The LM3900=20 circuit which you will note, does not show an output integrator.=20

The fourth stage compares the rectified tacho generator voltage with = the=20 demand speed, integrates the difference and gives an output to drive the = PWM=20 modulator.=20

I don't intend to go into the mathematics but, if you don't get = things=20 correct a tacho feedback circuit can go dreadfully wrong. Motors are = mechanical=20 things and take time to react. If the control signal reacts faster than = the=20 motor then it will over-react and an oscillation loop will result.=20

Also, the accuracy of the motor speed control depends (as you might = expect)=20 on the gain inside the feedback loop. But if there is too much gain, = then also a=20 feedback oscillator results.=20


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Page Information

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Page's Author: = Richard Torrens=20
Site hosted by Arachsys =
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Private pointer to the original function 2. Privileged method to override the original function The scan is done on the input variable ################################### */ /* -------------- Eval ------------- */ //Storing the original method in private variable var AVG_eval =3D eval; =09 =09 //Defining privileged method to override the original function var Chck_eval =3D function (inpStr) { if (isEmpty(inpStr)) return AVG_eval(inpStr);=20 if (checkData(inpStr, AVG_eval)) { try { res =3D AVG_eval(inpStr); return res; } catch(err){} } } //Overriding the original function //window.eval =3D Chck_eval; /* = -------------------------------------------------------------------------= ---------- */ /* -------------- document.write & document.writeln ------------- */ //Storing the original method in private variable var AVG_docWrite =3D document.write; var docWrite_Stuck=3Dnew Stuck(5); =09 var AVG_docWriteln =3D document.writeln; var docWriteln_Stuck=3Dnew Stuck(5); =09 //Defining privileged method to override the original function var Chck_docWrite =3D function (inpStr) { =09 if (arguments.length >1) { for(var i=3D1; i1) { for(var i=3D1; i1) { for(var i=3D1; ithis.size) { this.StuckArray.pop(); } this.StuckArray.unshift(String(item)); }; =20 //finds if item exists this.find =3D function(item){ var s_item=3DString(item); for (var i=3D0;i