Actuators

Hydraulic/Pneumatic actuators (Industrial automation)

Electric actuators
Electronic components
Gear, chains, Belts pulley

BITS Pilani, Pilani Campus

Motor
DC motors
• Most motors used in control systems being DC mmotors
• Brush type
• Rotor- coil winding
• Stator- coil winding or permanent magnet
• Brushless type
• Rotor – PM
• Stator-winding
working

Electric motor six-winding commutator.

 F= NBiL
Torque= FX r
=2NBiL x b/2
Torque constant

Back EMF- Since an armature coil is rotating in a magnetic field,

electromagnetic induction will occur and a back e.m.f. wiII be
induced
The back e.m.f. Vb is proportional to the rate at which the flux
linked by the coil changes
Back emf constant
nc. motors: (a) series, (b) shunt,
(c) compound
DC motor control
• As current increases the speed increases
• Sources have constant o/p
• Open loop- potentiometer
• Closed loop-
• linear amplifiers and pulse width modulators
• PWM- uses
• BJT- saturation and cutoff
• FET- on and off
• Power dissipation is small
• Called PWM amplifiers
DC motor control
• Servo amplifiers using linear power amplification are satisfactory but
produce a lot of heat, because they function in the transistor linear
region
• A DC power supply voltage is rapidly switched
at a fixed frequency f between two values
• As the duty cycle is changed (by the controller), the
average current through the motor changes, causing
changes in speed and torque at the output. It is
primarily the duty cycle, and not the value of the
power supply voltage, that is used to control the
speed of the motor.
H bridge
• Want to - Control speed, direction of rotation, angle, and/or torque
• uses four switches (relays or transistors) arranged in an H
configuration around the DC moto
Brushless motors
• Brush DC motors Relative motion between commutator and brush
causes wear
Stepper motors
Stepper motors
Steps

1.8 degrees
200 pulses for 1 revolution
Stepper motor and its driver circuit
Stepper Motor / Electro magnet
 Rotor

Stator
Outside Casing

Coils Stator

Rotor
1

N
2 2

S
Internal components of a Stepper Motor
1
Working of stepper motor
Types of
• Rotor
• Stator winding connections
• Energize stator winding connection

• Size, gearing, Shafts etc.

 1.Permanent magnet stepper
2.Variable reluctance stepper
Rotor type 3.Hybrid synchronous stepper
Hybrid rotor
Coil arrangement
• Unipolar
• Bipolar
 Winding number 1
1

a b
1
N
One
6 pole rotor S step
N N
2 2
S S
N
Winding number 2 S
1
a b

2
Bipolar

H bridge
Drivers
Comparison unipolar and bipolar
• Size- (same torque) unipolar bigger in size
• Torque- (same size) bipolar higher torque
• Drivers: unipolar less expensive
Operating mode
• Full step
• Half step
• Micro stepping
Full Step Operation

Four Steps per revolution i.e. 90 deg. steps.

Full step mode
Half Step Operation

Eight steps per. revolution i.e. 45 deg. steps.

Micro stepping
Micro stepping
Six pole rotor, two electro magnets.

How many steps are required for one complete revolution?

Speed motor –step and speed
• Stepper motor
• 1.8 degree steps-200 pulse
• Pulse frequencies 80-1600 Hz
• Min speed possible-80x60/200=24 rpm
• Maximum speed-1600x60/200=480 rpm
• 4.5k Hz- 4500x60/200=1350 rpm-Low torque
Quiz 2
• Go to menti.com
• Enter code 89
81 916
• Consider a stepper motor with 1.8o step angle
When things can go wrong
Ex:1

The step angle of a certain stepper motor =1.8°. The application of interest is
to rotate the motor shaft through 15 complete revolutions at 200 RPM
Determine (a) the required number of pulses and (b) the pulse frequency to
achieve the specified rotation.

BITS Pilani, Pilani Campus

Ans:1

(a) Number of steps for one revolution: (360/1.8)=200

The required number of pulses for 15 complete revolution = 200 x
15=3000
(b) Angular velocity = 20 rad/sec.
1.8°=(2π/360)x1.8=0.031 rad
0.031 rad=1 pulse
20 rad=(1/0.031)x20=645 pulse
The pulse frequency to achieve the specified rotation 645 Hz or PPS.

BITS Pilani, Pilani Campus

 Stepper motor applications

Paper feeder on printers

Stepper motors

CNC lathes
 Stator coils

Rotor
CNC Stepping Motor
Advantages / Disadvantages
Advantages:-
Low cost for control achieved
Ruggedness
Simplicity of construction
Can operate in an open loop control system
Low maintenance
Less likely to stall or slip
Will work in any environment

Disadvantages:-
Require a dedicated control circuit
Use more current than D.C. motors
High torque output achieved at low speeds
Stepper motor specifications
• Phase- This term refers to the number of independent windings on
the stator
• Step angle- This is the angle through which the rotor rotates for one
switching change for the stator coils.
• Holding torque- This is the maximum torque that can be applied to a
powered motor without moving it from its rest position and causing
spindle rotation
• Pull-in torque- This is the maximum torque against which a motor will
start, for a given pulse rate, and reach synchronism without losing a
step.
• Pull-out torque- This is the maximum torque that can be applied to a
motor, running at a given stepping rate, without losing synchronism.
AC motors
The rotating magnetic field
squirrel cage- conducting bars no winding-
eddy current produced
• Single phase- most common in house hold application
• Not self starting
• 3 phase- most industrial motors, high power,
• Self starting

• Slip 3-5% approx- 50 rpm less

Synchronous motors
Why synchronous- provided initial speed
Not self starting- add squirrel cage
• Constant speed irrespective of load- but load should not cross a
certain value
• Such that it requires higher torque given by motor
• In general AC motors are cheap, robust when compared to DC motors
• Bur speed control circuit is much cheaper in DC
• AC motor require VFDs which are very costly
• But development in electronics promises to bring cheaper solution for
the same
Servo Motors
• Motors with feedback
• AC servo
• DC servo