msd Pulse-width modulation

101
ulse-width modulation (PWM), as it applies to motor words, energy flows into the load not so much the

P control, is a way of delivering energy through a

succession of pulses rather than a continuously
varying (analog) signal. By increasing or decreasing pulse
switching frequency, but at the reference frequency.
PWM is somewhat like pushing a playground-style
merry-go-round. The energy of each push is stored in the
width, the controller regulates energy flow to the motor inertia of the heavy platform, which accelerates gradually
shaft. The motor’s own inductance acts like a filter, storing with harder, more frequent, or longer-lasting pushes. The
energy during the “on” cycle while releasing it at a rate riders receive the kinetic energy in a very different manner
corresponding to the input or reference signal. In other than how it’s applied.

questions How PWM works

&answers
Q: What’s the main advantage? Command
A: Efficiency. PWM amplifiers run cooler (modulating) signal High
than standard linear power amps,
requiring substantially less heat sink +
A simple
mass. At about 90% efficiency, PWM Comparator Low
comparator with a
makes electromagnetic motion feasible PWM signal
sawtooth carrier
at power levels where hydraulics used to
can turn a
-
be the only option. Chopping
sinusoidal (carrier) signal
command into a
Q: What’s the downside?
pulse-width
A: Nature doesn’t like abrupt changes; Output stays high as
modulated output.
high-current switching generates long as the command
In general, the is greater than the carrier.
electromagnetic noise as well as voltage
larger the
spikes. This calls for special measures H H
command signal, H
like filtering, shielding, and the use of H
the wider the H
spike-hardened components. H
pulse. H

Q: What’s the effect on bandwidth?

A: As a rule of thumb, the usable L
L
bandwidth of the command signal is L L High
about one decade (10X) below the
switching frequency. Low

Linear PWM
Pass element
Supply
Supply voltage
voltage
R RL Load
Command PWM
Load input control
Command Duty
input Driver 95% 50% 5% cycle

Linear amplifiers vary the resistance of a pass element to

regulate power. Efficiency is fine at the extremes — losses are
minimal when R = 0 or ∞ — but suffers elsewhere, bottoming The output of a PWM amplifier is either zero or tied to the supply
out at midrange (R = RL) where the amount of energy wasted as voltage, holding losses to a minimum. As the duty cycle changes to
heat in the amplifier equals that delivered to the load. deliver more or less power, efficiency remains essentially constant.

66 ● PTdesign ● www.motionsystemdesign.com ● October 2000