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Chapter - Continuous Actuators

Adjust outputs over a range of values

Motor And Feedback Controller

command
generator
(e.g., PLC)

desired position
or velocity
controller

voltage/
current

power
amp

amplified
voltage/
current

encoder
motor

DC Motors
motor
shaft

brushes

I
I
magnetic
field

Top
Front

split commutator
split commutator

motor
shaft

axis of
rotation

brushes
V+

power
supply

V-

L1

AC Motors

stator windings

rotor

L2
L1

L3

Neut.

Neut.

Neut.
Neut.

Variable Frequency Drives


Controller

torque

operating range

f120
S
RP M = 1
p
100%
where,
synchronous speed

f = power frequency (60Hz typ.)


p = number of poles (2, 4, 6, etc...)

speed

RPM = motor speed in rotations per minute


S = motor slip

Brushless Motors
V1

V2

torque

V3
speed

Stepper Motor

1A
controller

2A
1B
2B

stepper
motor

Step

1A

2A

1B

2B

1
2
3
4

1
0
0
1

0
1
1
0

1
1
0
0

0
0
1
1

torque

speed

Wound Stator and Rotor Motors

operating
range
stall torque
T

parallel/shunt

series

Motion Profiles
Joint angle (degrees)
180
90
time(sec)

-90
Joint velocity (degrees/sec)
m ax

ma x

t ac c

t m ax

tde c

Hydraulic Servo

actuating
signal

position

servo valve
amplifier
servovalve

hydraulic
actuator

sump

hydraulic
power
supply

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