Have a look at this table with the main modal auxiliary verbs and related expressions and functions.
tabla-de-modales-usos-y-ejemplos
and here you have an extensive explanation in Spanish
Teoría Modales y Modales Perfectos
and now try these quizzes:
and this tests:
Test on Modals and Related Expressions
Modals and Related ExpressionsANSWERS
And here you have some links to modals on the net:
http://anasenglishactivities.blogspot.com.es/2008/03/modal-verbs.html
http://www.englishexercises.org/makeagame/viewgame.asp?id=2229
http://www.agendaweb.org/verbs/modals-exercises.html
http://www.ego4u.com/en/cram-up/grammar/modal-verbs/exercises
http://www.perfect-english-grammar.com/modal-verbs-of-obligation-exercise-1.html
More exercises with answers:
VARIED MODAL VERBS EXERCISES II
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