Actuation

 result of direct physical action upon the process

Ex. Solenoid, DC/AC motors, pneumatic devices

 Major factors in selecting an actuator for mechanical

applications

o Precision

o Accuracy and resolution

o Power required for actuation

o Cost of the actuation device

DC Motor Inside the motor is the stator

 electromechanical device that provide precise and

continuous control of speed over a wide range of
operations

 Features

o High torque

o Speed control ability

o Speed - torque characteristics

Brushless DC motor

 Highly reliable and can generate high torque at speeds up

to 100K RPM

AC motor
2P - 3500 RPM
 more reliable, rugged in construction but has less
maintenance. For constant speed applications by 4P - 1400 RPM to 1700 RPM
frequency variable speed with certain limits
6P - 1100 RPM
AC Motor Connections
8P - Synchronous Motor 600 rpm to 800 rpm
Delta Wye Motor Arrangement

 Low  High 1. Foot Mounted

Resistance Resistance
2. Flanged Mounted
 Low  High 3. Either Mounted
Torque Torque
Stepper Motors
 High  Low
Speed Speed  A cost-effective alternate to DC Motors

 An actuator which translates electron pulses into equally

spaced angular movement of the rotor.

Variable Frequency Drive

Variable Reluctance Stepper Motor
Opposite Drive Side
 In VR Motors, the stator windings are excited in a
Parts of a motor (frame)
sequence that will cause the rotor to align to a position
that minimizes magnetic reluctance between stator &
rotor.
 Permanent Magnetic Stepper Motor  Movement of the load I response to the rotation of lead
screw
 The excitation pattern is provided by permanent magnets.

A
S=P ∙
VRSM PMSM 360

Positioning 15° 90°

S = Position relative to the starting position (mm)
Torque 14 N- 35 N- mm
M m P = Pitch of the lead screw ( )
rev
A
= No of Revolutions of Lead Screws
360
Stepper Servo
Motor Motor
Number of Pulses
Torque ↓ ↑
 The pulse's required to make a pre-determined position
Speed ↓ ↑

Vibration ↑ ↓ s
ηP = 360
pΘ

Positioning System
Rotational Speed
 Using Stepper Motor
 The speed of lead screw depends on the frequency of the
Step Angle pulses

 Each electrical signal/pulse transmitted from the input

module causes the motor to rotate a fraction of one
60fp
revolution N=
ηp

360
Θ= rev
ηs N = Rotaional Speed ( )
mm
pulse
fp = Pulse frequency ( )
Θ = Step Angle sec

ηs = No. of step angles

mm
vt = NP = travel speed ( )
min
Angle of Rotation

 If the motor is directly connected to the screw without a Example

gear box.
A machine table driven by a closed-loop positioning system consists
of a servo motor, lead screw, and an optional encoder. The lead
screw has a pitch of 0.5cm and is coupled to the motor shaft with a
A = ηp Θ
gear ratio of 4:1. The optical encoder generates 150 pulses/rev of
the lead screw. The table has been programed to move a distance of
A = Angle of Rotation 7.5cm at a feed-rate of 40 cm/min. Determine:

ηp = No of Pulses 1. No of pulses received by the control system to verify that

the table has moved exactly 7.5cm
Θ = Pulse Angle
2. Pulse Rate

Distance Moved
  Use incompressible fluid & capable of providing high
horsepower/unit.

Design Elements

1. Energy Input

2. Input Devices (Pumps)

3. Modulation Devices (Valve)

4. Output Devices (Actuator)

Given:
5. Load
cm
P = 0.5 FPS Consists of 3 Devices
rev
RPM = 4: 1 1. Energy Input Device

Lead Screw = 150 pulses per rev 2. Energy Modulator

Time Required to travel 3. Energy Output Device

cm Fluid Power System Input Device
7.5cm = 40 ∙t
min
60 sec
 Primary source of fluid power energy creation.
t = 0.188 min ∙ =
1 min Displacement
No of Pulses
 Actual volume of fluid displaced during a cycle of fluid
pulses power pump.
150
rev
ηp = cm (7.5cm) = 2250 pulses 2 Classifications of Fluid Power Inputs
0.5
rev
1. General Classification
Pulse Rate
a. Positive Displacement Pump (PDP)
2250 pulses pulse
fp = = 11 968.085
0.188 min min i. Fixed Delivery
Fluid Power System ii. Variable Deliver

 Used for driving high-power machine tools as they can b. Non-Positive Displacement Pump (NPDP)
deliver a higher amount of power while being relatively
small in size 2. Classification Based on Design Features

3 Main Components Positive Displacement Pump (PDP)

1. Fluid Power Actuator  Has a small clearance between stationary & moving parts

2. Servo Valves

3. Load Fixed Delivery

Valve  Depends on working relationship of internal elements.

 Fundamental component of Fluid Power System  Vout of fluid remains constant for a given speed

Non-Positive Displacement Pump

 Large Clearance Between Stationary & Moving Parts

 For Low Pressure & High Volume Flow Situation

Fluid Power Actuator

 Either a fluid power cylinder or a rotary type motor