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11/22/2006
ME 515 Mechatronics
Introduction to Actuators
Asanga Ratnaweera Department of Mechanical Engineering Faculty of Engineering University of Peradeniya Tel: 081239 (3627) Email: asangar@pdn.ac.lk
Actuation Systems
Actuation systems are the elements of control systems which are responsible for transforming the output of a microprocessor or control system into a controlling action on a machine of device: Most common types of actuators
Electric Actuator Mechanical Actuators Hydraulic & Pneumatic Actuator
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Electrical Actuators
Electrical energy transformed to mechanical energy
DC Motors Stepper Motors AC Motors Linear Motors
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Electrical Actuators
easy to control from mW to MW normally high velocities 1000 - 10000 rpm several types accurate servo control ideal torque for driving excellent efficiency autonomous power system difficult
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DC Motors
The most common actuator in Mechatronic systems is the Direct Current (DC) motor
Rotary actuators Power range: Fractions of watts to 100s of kW. Power supply by grid, diesel generator, or batteries Easy to control accurately
Advantages:
simple Cheap various sizes and packages.
Disadvantages:
limited overloading on high speeds Wear at rubbing surfaces
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Basic Operation
Current flowing through a conductor in a magnetic field induces a force perpendicular to the field and to itself
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Brushed Motor
The stator is the stationary outside part of a motor. The rotor is the inner part which rotates. In the motor animations, red represents a magnet or winding with a north polarization, while green represents a magnet or winding with a south polariztion. Opposite, red and green, polarities attract.
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With N such conductors the force is NBiL. The forces result in a torque T about the coil axis of Fb, with b being the breadth of the coil. Thus: T = NBLi = ki i Back emf vb = k v
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i=
V vb V k v = R R
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T = kt i =
kt (V k v ) R
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Torque
Run away
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no load speed
Speed
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Reversing the polarity of the supply to the coils has no effect on the direction of rotation of the motor:
both the field and armature current have been reversed
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V =L
dia + ia R + Vr dt
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Tr
1 ia = V R
K e R
d = Tr B T dt
T = JL d + bL dt
d K B 1 = ia T J dt J J
Can be solved using Matlab Simulink
Load torque T
Load inertia
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DC Motor Specs
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Torque
no load speed
Speed
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DC motors: Performance
Good DC motors can be made to be efficient in the 90th percentile. Cheap DC motors can be as low as 50%. Other types of effectors, such as miniature electrostatic motors, may have much lower efficiencies still. Most DC motors have unloaded speeds in the range of 3,000 to 9,000 RPM (revolutions per minute), or 50 to 150 RPS (revolutions per second). This puts DC motors in the high-speed but lowtorque category (compared to some other actuators).
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In order to make it more efficient, the windings were placed on the outside (stator), and the magnets were moved to the inside (rotor)
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Brushless DC Motors
A brushless dc motor has a rotor with permanent magnets and a stator with windings. It is essentially a dc motor turned inside out. The control electronics replace the function of the commutator and energize the proper winding.
no brushes no wearing parts high speeds coils on cover => better cooling excellent power/weight ratio needs both speed and angle feedback more complicated controller From small to medium power (10W 50kW)
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H-bridge
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DC Servo Motors
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DC Servo Motors
Servo motors are adapted DC motors, with the following additions:
some gear reduction a position sensor for the motor shaft an electronic circuit that controls the motor's operation
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Stepper Motors
Typical Use: Position Control Relative position (without feedback) Easy to control:
# Steps moved = number of pulses in Desired Velocity Step Rate
Inexpensive Good holding torque No brushes Can lose steps if load or pulse rate too high
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There is a center tap on each of two windings. Center taps of the windings are typically wired to the positive supply The two ends of each winding are alternately grounded to reverse the direction of the field For higher angular resolutions, the rotor must have proportionally more poles.
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Full step sequence showing how binary numbers can control the motor
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A half-step motor has twice the resolution of a full step motor. In full step mode, 4 steps per revolution, 900 per step In half step mode, 8 steps per revolution, 45o per step
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The two windings are wired more simply, with no center taps The motor itself is simpler but the drive circuitry needed to reverse the polarity of each pair of motor poles is more complex The drive circuitry for such a motor requires an H-bridge control circuit for each winding
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Phase A
Phase B
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Rotation achieved by applying specific voltage sequence to coils Controller greatly simplifies this
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In open loop control the controller has to generate a constant frequency pulse train for the desired velocity (vd) in revolutions/sec, over a time period of td
vd= N/ Vd
Vd step freequency (steps/sec)
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AC-motors
Single or three phase motors 100 Watts MW High power high torque applications Brushless, durable, easy to maintain Now fully digital vector controlled
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AC-motors: Types
Two types of AC motors
Synchronous motors
Since the current is alternating, the motor will run smoothly only at the frequency of the sine wave.
Induction motors
electric current is induced in the rotating coils rather than supplied to them directly
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AC-motors: Induction
Motors
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AC Induction Motor
The stator windings of an ac induction motor are distributed around the stator to produce a roughly sinusoidal distribution. When three phase ac voltages are applied to the stator windings, a rotating magnetic field is produced. The rotor of an induction motor also consists of windings or more often a copper squirrel cage imbedded within iron laminates. Only the iron laminates are shown. An electric current is induced in the rotor bars which also produce a magnetic field.
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AC Induction Motor
The rotating magnetic field of the stator drags the rotor around. The rotor does not quite keep up with the the rotating magnetic field of the stator. It falls behind or slips as the field rotates. In this animation, for every time the magnetic field rotates, the rotor only makes three fourths of a turn. If you follow one of the bright green or red rotor teeth with the mouse, you will notice it change color as it falls behind the rotating field. The slip has been greatly exaggerated to enable visualization of this concept. A real induction motor only slips a few percent.
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AC-motors: Synchronous
Motors
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2.5 J m J L / N 2 5 J m
Jm polar moment of inertial of the motor JL - polar moment of inertial of the load N gear ratio JL/N2 rotor equivalent load inertia
Remember kinetic energy = *I*2
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Tm =
TL + J m m N
TL = T f + J L L
TL Load torque Tf Frictional torque m Motor acceleration L Load acceleration
Remember power = T
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P = T f + J
Cost
Motor with a given inertia , can deliver a wide range of torques, depending upon the magnetic strength Motors with high magnetic strength is always expensive
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