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Answers to problems
6.17 Briefly describe Downloaded
labeled
the (A)steps
two From
are listed
in :the
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theindigital-to-analog
appendix. conversion process?
6.18 What is the difference between a contact input interface and a contact output interface?
Sensors
6.19 What is a pulse counter?

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Sec. 6.2 / Actuators 129

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6.1 (A) During calibration, an iron/constantan thermocouple emits a voltage of 1.02 mV at
6.20 What is a pulse generator?
20°C and 27.39 mv at 500°C. The reference temperature is to be set to emit a zero volt-
The mechanical power delivered by the motor is the product of torque and velocity,
age at 0°C. Assume the transfer function is a linear relationship between 0°C and 500°C.

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as defined in the
Determine (a) the following equation:
transfer function of the thermocouple and (b) the temperature corre-

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PROBLEMS Bài tập tựsponding
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voltage output of 24.0 mV.
P = Tv (6.10)

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6.2 A digital tachometer will be used to determine the surface speed of a rotating workpiece

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Answersintosurface
whereproblems labeled
P meters
= power (A)
perinsec. are
Thelisted
N-m/sec in the appendix.
tachometer
(Watts); isTdesigned
= motor to torque,
read rotational speed
N-m; and v in= rev/sec,
angular veloc-
but
ity, in this case
rad/sec. the
The shaft of the
corresponding tachometer is
horsepower directly
is coupled
given by to a wheel whose outside rim
1. Sensor:
Sensors

t
is made of rubber. When the wheel rim is pressed against the surface of the rotating work-

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6.1 piece, the tachometer
(A) During calibration,should provide a direct
an iron/constantan reading
Tv of surface
thermocouple emits aspeed in m/sec.
voltage of 1.02What is
mV at
the
20°C diameter of the
and 27.39 mv wheel rim that
at 500°C. The will HPtemperature
provide
reference a=direct reading
is to of
besurface speeda in
set to emit
745.7 volt- (6.11)
m/sec?
zero
6.3agerotary
A at 0°C. Assume
encoder the transfer
is connected function
directly is a spindle
to the linear relationship
of a machine between
tool to 0°C and 500°C.
measure its ro-

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Determine
tational
where the (a) The
speed. the transfer
constant 745.7 function
encoder generates
is of72the
the conversion thermocouple
pulses for each
factor andW(b)
revolution
745.7 = theof temperature
1hp. the spindle. In corre-
one
sponding
reading,The toservomotor
the a voltagegenerated
encoder output of 237
is connected24.0pulses
mV. in a directly
either period ofor 0.25 sec. What
through was the
a gear rotational
reduction to a piece

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6.2 speed of the spindle
Theinmachinery
(a) be rev/min anddetermine
(b)
berad/sec?

Ea
A digital
of machinery.tachometer will used may to a fan,thepump,
surfacespindle,
speed of table
a rotating
drive,workpiece
or similar me-
in digital
6.4 A surfaceflow
chanical metersmeter
apparatus. per operates
sec.
TheThe tachometer
by
apparatus emitting is
a designed
representspulse fortheto read
each
load rotational
unit
thatvolume
is driven speed byinthe
of fluid rev/sec,
flowing
motor. The
but inrequires
this 3
through
load it. case
The the shaft offlow
particular
a certain the meter
torque tachometer
to ofoperate,is directly
interest has athe
and coupled
unittorque to aiswheel
volume ofusually
50 cm whose per outside
pulse.toIn
related rima
rotational

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is madeprocess
certain of rubber. When the wheel the rim flow
is pressed against the surface of during
the rotating work-
speed in some way. In general, the torque increases with speed. In the simplestofcase, the
control application, meter emitted 3,688 pulses a period
piece,
2.5 min.the Downloaded
tachometer
Determine From
(a) should
the total: EasyEngineering.net
provide
volumea of direct
fluidreading
that flowed of surface
through speed in m/sec.
the meter andWhat
(b) the is
relationship is proportional:
the diameter
flow rate of fluid of the
flow.wheel rim that
(c) What willpulse
is the provide a direct(Hz)
frequency reading of surface speed
corresponding to a flowin m/sec?
rate of
3
6.3 60,000
A rotary cmencoder
/min? is connected directly to the TLspindle vof a machine tooland
= KLfor Automation to measure its ro- (6.12)

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130 Chap. 6 / Hardware Components Process Control
tational
6.5 A tool-chipspeed. The encoder
thermocouple is generates
used to measure 72 pulses for each
cutting revolutioninofa the
temperature spindle.
turning In one
operation.
where
reading,
The
2. Actuatortwo T load
the=encoder
dissimilar
L torque,
generated
metals in N-m;
a 237and
tool-chip K
pulses in= athe
thermocouple
L constant
period of
are0.25
the of proportionality
sec.
tool What
materialwasand between
the the work- torque
rotational
speedangular
and
piece of the During
metal. spindle
velocity, in (a)
the rev/min
N-m/(rad/sec).
turning and (b)
operation, Therad/sec?
thefunctionality
chip from the between work metal and aTL
KLforms may be other
junction

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EXAMPLE 6.1 DC of Servomotor Operation
6.4 with
than the
A digital rake
flowface
proportional, meterthe such tool
operates toby
that create
K the depends
itself
Lemitting thermocouple
a pulse for on each at exactly
the angular thevelocity.
unit volume location
of fluidwhere
For it is
example,
flowing the
desired
torque
through to
it.
DC measure
A required
The temperature:
to drive
particular
servomotor flowa meter
has fan the
a torque interface
increases
of interest
constantbetween
approximately
has aKunit =the tool
volume
0.095 and
as the
of
N@m>A. the
50 cmchip.
3
square per
Its A ofseparate
the
pulse.
voltage In rotational
a
con-
t
2
certainstant
speed, process
that is is, KTL ∝ vapplication,
control . the flow meter emitted 3,688 pulses during a period of
v = 0.11 V> 1rad>sec2. The armature resistance is Ra = 1.6 ohms.

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2.5 min.The
A Determine
terminal (a) the total
torque voltage
developed of 24 volume
by Vthe of fluid
is motor
used that
toand flowed
the
operate through
torque
the theDetermine
required
motor. meter by and
the (b) (a)the
load must be
the
flow rate
balanced. of fluid
That flow.
is, T (c)
= What
T in is the pulse
steady-state frequency
operation (Hz) corresponding
and this torque to a
is flow
called ratetheof operat-
starting torque generated
L by the motor just as the voltage is first applied, (b)
60,000
ing cm3/min?
point. The motor torque relationship with angular velocity can be plotted as shown
the maximum speed at a torque of zero,From
Downloaded and :(c) the operating point of the
EasyEngineering.net

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6.5 A tool-chip
in Figure
motor thermocouple
6.3, called
when it the is used to measure
torque–speed
is connected loadcutting
to a curve. Alsotemperature
whose shown
torque in in a figure
the turningisoperation.
characteristic isthe loadbytorque
given
The two dissimilar
relationship. metals in a tool-chip thermocouple are the tool material and the work-
TL = KTheLv intersection
and K L = of
0.007 the
N@m>two plots is
1rad>sec2. the operating
Express the point, which
rotational is defined
speed as by
piece
the metal.of
values During the turning operation, the chip from the work metal forms a junction
rev/min.torque and angular velocity.

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with the rake face of the tool to create the thermocouple at exactly the location where it is
desired
Solution: (a)toAt
measure
v = 0,temperature: thecurrent
the armature interfaceisbetween the tool and the chip. A separate

Ea
Torque T Ia = Vin >Ra = 24>1.6 = 15 A.

The corresponding
Downloadedtorque is torqueT = KtIa = 0.0951152 = 1.425 N@m
therefore
From : Starting
EasyEngineering.net

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Downloaded From : EasyEngineering.net
(b) The maximum speed is achieved
Motorwhen the back-emf Eb equals the terminal
Problems voltage Vin. 147
Load

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Eb = Kvv = 0.11v = 24 V
calibration procedure must be performed for each Operating point of tool material and work
combination
metal. In the combinationv =of24>0.11
interest = 218.2
here, therad>sec
calibration curve (inverse transfer func-
tion) for a particular grade of cemented carbide tool when used to turn C1040 steel is the
N = 601218.22 >2p = 2,084 rev , min

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No-load speed
following: T = 48.94Etc - 53, where T = temperature, °C; and Etc = the emf output of
the thermocouple, mV. (a) Revise the temperature equation so that it is in the form of
a(c) The load torque is given by the equation TSpeed 0.007v
L =(6.3).
w
transfer function similar to that given in Equation What is the sensitivity of this
The motor torque equation is given by Equation (6.9). Usingthetheemf
given data,of the

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tool-chip thermocouple? (b) During a straight turning operation, output
thermocouple was Figure
9.25 6.3
mV. WhatTorque–speed curve of a DC servo-
T = 0.095124 - was the corresponding
0.11v2 >1.6 = 1.425 cutting temperature?
- 0.00653v
motor (idealized), and typical load torque rela-

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Setting T = TLtionship. The for
and solving intersection ofvthe
v results in = two plots
105.3 is the
rad>sec
operating
Converting this point.
to rotation speed, N = 601105.32 >2p = 1,006 rev>min
Actuators

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6.6
(A) A DC servomotor has a torque constant of 0.075 N-m/A and a voltage constant of

Ea
is 2.5 Ω. A terminal
0.12 V/(rad/sec). The armature resistanceDownloaded voltage of 24 V is used to
From : EasyEngineering.net
operate the motor. Determine (a) the starting torque generated by the motor just as the
EXAMPLE 6.2 DC Servomotor Power
voltage is applied, (b) the maximum speed at a torque of zero, and (c) the operating point

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of
In the
themotor when
previous it is connected
example, what istothe
a load
powerwhose torque characteristic
delivered by the motorisatproportional
the oper- to
speed with a constant
ating point? Expressofthe proportionality
answer as (a) 0.0125 and
= Watts N@m>(rad>sec).
(b) horsepower.
Stepper:
6.7 In the previous problem, what is the power delivered by the motor at the operating point in
Solution: units
At vof=(a)105.3 rad>sec, and using the load torque equation,
Watts and (b) horsepower?

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6.8 0.0071105.32
A DC servomotor is usedTLto =actuate 0.737
one of the=axes N@m
of an x–y positioner. The motor has
a torque constant of 10.0 in-lb/A and a voltage constant of 12.0 V/(1,000 rev/min). The
(a) Power P = Tv = 0.7371105.32 = 776 W
armature resistance is 3.0 Ω. At a given moment, the positioning table is not moving and

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a(b)
voltage of 48 V isHP
Horsepower applied to the motor=terminals.
= 77.6>745.7 0.104 hpDetermine the torque (a) immediately
after the voltage is applied and (b) at a rotational speed of 500 rev/min. (c) What is the
maximum theoretical speed of the motor?
6.9 A DC servomotor generates 50 W of mechanical power in an application in which the