Atuadores e Drives

•Motores Elétricos e Drives

•Drives Hidráulicos
•Drives Pneumáticos
•Atuadores do futuro
 Atuadores Elétricos e Drives

Electrical energy transformed to mechanical energy

• Motores DC
• Motores AC
• Motores Linear
• Motores de passo
Motores DC

• Atuadores rotativos
• Power range: Fractions of watts
to 100s of Kw.
• Pode ser alimentado por:
– fontes de alimentação,
– Baterias
– Geradores

• Fácil de ser controlado

Princípio Básico de
Operação
 Motores DC

• Aplica-se uma voltagem a

armadura
• Armadura gira em um campo
magnético
• Controle de velocidade por:
– voltagem na Armadura
V M – Força do Campo
W =K.V – Velocidade Proporcional a
Voltagem
• Torque proporcional a
corrente
• Potência=Velocidade x Torque
 Motores DC : Leis Básicas I

Torque proporcional a corrente

T  KT ia

Torque Corrente que flui

Constante na Armadura
 Motores DC : Leis Básicas II

Voltagem Balanciada na Armature

Ra

Raia
Va Vb M
W Raia  Vb  Va

Raia  Kb W  Va
Voltagem gerada pelo
retorna FEM
movimento da
Constante
armadura no campo
(como um Gerador)
 Motores DC : Leis Básicas III
Torque e velocidade

T  KT ia
Velocidade
sem carga

W
Raia  Kb W  Va

Ra 1
W T Va
Kb Kb T
Stall Torque
 Motores DC :
Comportamento I
Equations of Motion:
Torque Drives a Load
Va Kb
T  W
B Ra Ra

W
+
T J dW
TJ  BW
dt
dW  Kb  Va
J B W 
dt  Ra  Ra
 Motores DC :
Comportamento II

dW  Kb  Va 1

J B W  0.9

dt  Ra  Ra 0.8

0.7

0.6

Output
0.5

0.4

0.3

0.2

dW 1 0.1

 W  U (t ) 0
0 0.5 1 1.5 2 2.5
Time (s)
3 3.5 4 4.5 5

dt T
 Servo Motores DC

• Power range: few W to few kW: for

disc drives, X-Y recorders,
instruments, robot arms
• Speed: very low to very high 10000
rpm (use gear boxes)
• Time-constants (ms): Electrical,
Mechanical and thermal
• Friction: Coulomb, viscous, stiction
• Often in-built encoders or tachometers
 Motores DC de Imã Permanente

• Many DC Servos are now brushless PM-DC

motors because of advances in:
1. High energy ceramic and rare earth magnets
2. Development of high power switching semiconductors
• No field windings
• Result is motors which are smaller and linear
• Motor is inside-out (magnets rotate).
 Controle Digital de Motores
DC
Pulse-Width-Modulated (PWM)
Output
Voltage

Sample
Period Output is average
over sample period

Pulse-Rate-Modulated (PRM)
Output
Voltage
Constant pulse Output is average
length Over all periods
 Principais características de
um Motor DC

• Precisão de Posição ou controle de

velocidade
• Baixo ruído,
• Alta eficiência
• Baixo custo
• Speed and power payoff (gearing)
 Alguns exemplos de
aplicação de motor DC
• Consumer Products:
– CDs, disk drives
– Fans, drills, etc
• Manufacturing
– Robots
– CNC machines
• Aerospace
– Sensor pointing
– Fly-by-wire inputs
• Cars:
– Windscreen wipers
– Fuel management
 AC-MOTORS: An Introduction

• Single or three phase motors

1f • 100 Watts – MW

~ V M
W
• High power high torque
applications
• Brushless, durable, easy to
maintain
• Now fully digital vector
controlled
 AC-MOTORS: Main Features

• Brush free full digital control

W
• Requires sophisticated
algorithms to control speed
(hence recent)
• Frequency control via power
converter (field control)
• Suitable for high speed and/or
high power applications T
• Complex structure, heavy weight
 Multi-phase AC servo motors

• Drive voltages out of

phase vm  Vm cosωt
• Multi-phase induction ~
• Better control and power
density
• Transfer function is
M vc  kVmsint
second order
r k

vc s( m s  1)
 When to Use an AC Motor

• High power required

• Complex control
profiles:
– Point to point
– Velocity
• Load Demand
– High duty cycle
– Efficiency
– Reliable
 Applications of AC Drives

• Large Cranes or
material handling
systems
• Belts or conveyors
• High Speed Trains
• Electric Drive Haul
Trucks (930E)
 Linear Motors:
A Brief Introduction

• Slider (rotor), stationary

part (stator), and gap are
extended in a straight
line
• Linear DC motors,
stepping motors,
induction motors, etc.
• Relatively expensive and
large for power output
F  iB
 Linear Motors:
A Brief Introduction

• Miniature & simple structure,

low power factor & efficiency
• Linear DC motors: rare earth
PMs, two yokes, moving coil
• Linear induction motors: eddy
current is developed in a good
electrical conductor to obtain
thrust
 Linear Motors: comparison

Linear Motor Type Advantages Disadvantages Examples of use

Induction: 1. Conveyance of steel
1. Flat type 1. 1. plates, tubes, pallets,…
 Single-side  Easy gap  Thrust is small Separation of non-ferrous
maintenance metals, High speed
 Double side  Thrust is large  Difficult gap (300km/h) railways
maitenance Tensioning devices
2. Rod type 2. No need of external 2. Small stroke motion 2. Pushers, Automatic
bearing mechanisms (max. 2m) doors
Stepper Open-loop Lower speed Head feeding of printers,
Distance ~ # pulses XY plotters,
Copying machines
Marking devices
DC High speed, large Closed loop, small Positioning magnetic
thrust stroke heads, pen recorders,
Needle feed of sewing
machines
Synchronous Constant feed travel, Need freq. transformer Ultra high speed railways
High efficiency to control speed (500km/h)
 Stepper Motors

• Motors that cause angular

shift correspondence to a
number of pulses
• 1st method: providing a
fixed number of pulses,
motion proportional to
number of pulses
• 2nd method: synchronising
rotations with the input
pulse frequency
 Stepper Motors

• PM type: permanent magnets

rotor
• VR (variable reluctance) type:
salient poles rotor, torque is
generated from difference of
magnetic resistance
• Applications: Electronic
typewriters and printers,
magnetic disk drives
 Summary of Electric Motors

Servo Motor Advantages Disadvantages Applicable capacity

DC servo motor: Easy to use, Low Brush replacement. Has 0.1 - few 100 Watts
priced control device restrictions in respect of
operating environment
Brushless motor (PM No brush maintenance Control device is from few W to few kW
synchronous) expensive due to its
complexity
Synchronous motor Excellent Detector is necessary
(vector control) environment
resistivity
Induction motor Durable construction Complicated control More than few W
(vector control) system
Stepping motor Open loop control, Dropped out of step. Below few 10 W
large static torque Large weight/capacity
ratio
 Hydraulic Systems and Actuators
Pump or Linear Actuator
• Hydraulics: Use of fluids Rotary motor (Cylinder)
to transmit power:
– Pumps are power
generators
– Inverse pumps or
cylinders are power drain
– Valves used for control
• Traditionally High Power
applications
• Now use integrated
electronics and sensing
 HYDRAULIC CIRCUITS

• Hydraulic Power Units:

– Pumps
– Accumulators (fluid
capacitors)
– Check valves to isolate
hydraulic systems
– Reservoirs
• Piping and Fittings
• Proportional/servo valves
• Hydraulic actuators
Hydraulic Circuit
Components and
Symbols
 Rotary Hydraulic Pumps and Motors

• General Operating
principles:
– Fluid is compressed
by pump on which
mechanical work is
done
– Fluid does work in
motor producing
mechanical power
• Two Types:
– Vane/gear pumps
– Piston/swash-plate
 Gear and Vane Actuators

• Output shaft rotated by fluid

motion (or shaft used to
generate fluid flow)
• Gear motors: The inside of the
case is partitioned into 2 with a
set of external gears.
• Vane motors: Torque is
generated by the effect of the
hydraulic pressure on the sliding
vanes fitted on the radially
directed slits on the rotor
• Gear and vane motors are used
for small and medium
displacements
 Piston and Swash-plate
Pumps/Motors
• Pistons connected to swash plate
• Swash plate is angled
– Swash plate rotates and pumps fluid
– Fluid flow rotates swash plate
 Piston and Swash-plate
Pumps/Motors
• Pistons connected to swash plate
• Swash plate is angled
– Swash plate rotates and pumps fluid
– Fluid flow rotates swash plate
 Piston and Swash-plate
Pumps/Motors
• Pistons motors used for medium and high
displacement applications
• Very high power densities available
• Require an engine (diesel or turbine for example)
to drive pump

Variable displacement Fixed displacement

 Cylinder Actuators

• Piston in cylinder acted

on by hydraulic pressure
• Force generated by rod:
– Single acting
– Double acting
– Double cylinder
– Double rod
• Efficiency governed by Pressure
friction,
• Small internal leakage:
Force Fc  ΔPA c Area

hold static load

Friction
Cylinder Construction
Rod cylinder with swivel
clevis mounting
 Hydraulic Valves

• Three main valve types:

– On/off valves for manual control
– Proportional valves: Control of
volume flow rate
– Servo valves: Accurate control of
flow and pressure
• Control Mode:
• Electric over hydraulic
• Hydraulic over hydraulic (pilot)
• Manual
 Electro Hydraulic Servo Valves

• “Servo”: a small input signal produces a large

output signal,eg. 0.08W to 100kW.
• Single stage (pilot control); 2-, 3-stage (with
elect. mech. feedback)
• In the form of an electrically controlled
hydraulic amplifier, used in closed loop control
• position/speed error measured electrically and
fed back to correct the flow
• Typical Applications: Heavy Industry, Rolling
Mills, Test Machines, Dynamic Test Cylinder
Material Testing
 Servo-Valve Controllers
0-9V 0-1.5A Proportional solenoid
Electrical
with stroke/force to
Amplifier
current relationship

Force/
Stroke
Direction, Proportional
Machine Hydraulic Pressure,Flow directional valve,
actuator Pressure/flow
control valve

• Hydraulic flow or pressure proportional to force or travel

– high force level, permanent magnet linear force motor directly drives
spool.
– A LVDT is attached to the spool to provide spool position feedback.
– An internal loop is closed around the spool position.
• Wood Industry, Set Saw Positioning, Basic Metals, Strip Gage Control
 Hydraulic Sensing and Control

Position Sensor

Fully Integrated
Control Valve
Selenoid
Controller
Flow ports
 Digital Flow Control

Integrated Valve

Integrated Manifold

Fully Digital
Controller
Electro-hydraulic System Example
 When to use Hydraulics

• Large Force, High Power applications

• High power density
• Accurate control
• Rugged environments (explosive, dusty,etc)
• Now use integrated electronics and sensing
• Wide range of applications:
– www.moog.com
– www.rexroth-hydraulics.com
 Applications

• Heavy Plant
– Steel press
– Large-scale precision motion
tables
• Mobile Systems
– Steering, brakes
– Propulsion and transmission
• Aerospace
– Aerolon actuation in aircraft
– Fin actuation in missiles/rockets
 Pneumatic Systems

• Many of the same principles as hydraulics except working fluid

is compressed air
• Compressed air widely available and environmentally friendly,
• Piping installation and maintenance is easy
• Explosion proof construction
• Major disadvantage is compressibility of air, leading to low
power densities and poor control properties (usually on/off)
• Pneumatic systems are suitable for light and medium loads (30N-
20kN) with temperature -40 to 200 degrees Celsius
Typical Pneumatic Actuator
 More Pneumatic Actuators

Oscillating actuator
(Rack and pinion type) Air motors
(multi-stroke radial piston type)
 Modern Pneumatic Systems

Dual
check
valves

Linear drive

Angular Toggle
Servovalve Gripper
Twin cylinder piston
offers closed vacuum pump or
loop control of compressor 250 W
acceleration, motor developing
velocity, 2.8 bar with flow to
positioning and 8.7 m3/hr
force
 When to use Pneumatics

• Low cost and easy to install

• Clean and easy to maintain
• Low power densities
• Only on/off or inaccurate control
necessary
 Pneumatic Applications

• Manufacturing
– Robot grippers
– Movement of parts
– Assembly operations
• Medical Systems
– Drills/cutting tools
– Suction and clamping
• Robotics
– Animatronics
– Grippers
– Subsea
 FUTURE ACTUATORS...

• Actuators using functional materials

– Piezoelectric element actuator
– Ultrasonic Motors
– Actuators of shape memory alloys
• Plasma motors
• Bio-actuators
• …..and many more !
Piezo Micro Actuators

http://www.piezo.com/bendedu.html
 Piezo Nano Motors

Thin film lead zirconate

titanate (PZT) on silicon

PZT Micro motor

 Shape Memory Alloys (SMA)

• SMA=TiNi alloy
• Height 160mm
• Weight 0.06kg
• Changes shape on
(electric) heating
And finally….MEMs