Lecture 8: Motors and Actuators

Working At The Boundary

Between EE/CSE/EPE,
Mechanical and Materials
Engineering
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 Magnetism

• One of the first

compasses, a fish
shaped iron leaf
was mentioned in
the Wu Ching
Tsung Yao written
in 1040
Trinity College, Dublin

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 Animal Magnetism

• A frog suspended in an intense magnetic field

– all of us are paramagnetic
• Much money is wasted on magnetic therapy

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 Electromagnetic Revolution

  B
 D   E  
t

   D
 B  0  H  J 
t
• These four equations epitomize the
electromagnetic revolution. Richard Feynman
claimed that "ten thousand years from now,
there can be little doubt that the most
significant event of the 19th century will be
judged as Maxwell's discovery of the laws of
electrodynamics"
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 Magnetic Attraction

• It is possible to produce motion using

magnetic attraction and/or repulsion
• Either permanent magnets or electromagnets
or both can be used
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 2 Minute Quiz
Name_____________
Sec___
• True or false, unlike magnetic poles attract and
like magnetic poles repel one another.
• Name one mechatronic device that you own or
use on a regular basis
• Which engineering majors are some interest to
you? Electrical, Computer & Systems, Electric
Power, Nuclear, Mechanical, Aeronautical,
Biomedical, Civil, Industrial & Management,
Materials, Chemical, Environmental, Engineering
Physics
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 Magnetic Attraction and Repulsion

• One of the many facts we all recall from

our earliest science education
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 DC Motors

• The stator is the stationary outside part of a

motor. The rotor is the inner part which
rotates. In the motor animations, red
represents a magnet or winding with a north
polarization, while green represents a magnet
or winding with a south polariztion. Opposite,
red and green, polarities attract.
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 DC Motors

• Just as the rotor reaches alignment, the

brushes move across the commutator
contacts and energize the next winding. In
the animation the commutator contacts are
brown and the brushes are dark grey. A
yellow spark shows when the brushes switch
to the next winding.
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 DC Motor Applications

• Automobiles
 W indshield W ipers
 Door locks
 W indow lifts
 Antenna retractor
•Cordless hand drill
 Seat adjust •Electric lawnmower
 Mirror adjust •Fans
 Anti-lock Braking •T
oys
System
•Electric toothbrush
•Servo Motor
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 Beakman’s Motor

• Asimple DC motor made with a battery, two

paperclips, a rubber band and about 1 meter of
enameled wire.
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 Brushless DC Motors

• Abrushless dc motor has a rotor with permanent

magnets and a stator with windings. It is
essentially a dc motor turned inside out. The
control electronics replace the function of the
commutator and energize the proper winding.

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 Brushless DC MotorApplictions
• Medical: centrifuges, orthoscopic surgical
tools, respirators, dental surgical tools,
and organ transport pump systems
• Model airplanes, cars, boats, helicopters
• Microscopes
• T
ape drives and winders
• Artificial heart

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 Full Stepper Motor

• This animation demonstrates the principle for a stepper motor using full step
commutation. The rotor of a permanent magnet stepper motor consists of
permanent magnets and the stator has two pairs of windings. Just as the
rotor aligns with one of the stator poles, the second phase is energized. The
two phases alternate on and off and also reverse polarity.There are four steps.
One phase lags the other phase by one step. This is equivalent to one forth
of an electrical cycle or 90°.

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 Half Stepper Motor

• This animation shows the stepping pattern for a half-step stepper motor.The
commutation sequence for a half-step stepper motor has eight steps instead
of four.The main difference is that the second phase is turned on before the
first phase is turned off. Thus, sometimes both phases are energized at the
same time. During the half-steps the rotor is held in between the two full-
step positions.Ahalf-step motor has twice the resolution of a full step motor.
It is very popular for this reason.

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 Stepper Motors

• This stepper motor is very simplified. The rotor of a real stepper motor
usually has many poles. The animation has only ten poles, however a real
stepper motor might have a hundred. These are formed using a single magnet
mounted inline with the rotor axis and two pole pieces with many teeth. The
teeth are staggered to produce many poles. The stator poles of a real stepper
motor also has many teeth. The teeth are arranged so that the two phases
are still 90° out of phase. This stepper motor uses permanent magnets.
Some stepper motors do not have magnets and instead use the basic
principles of a switched reluctance motor.The stator is similar but the rotor is
composed of a iron laminates.
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 More on Stepper Motors

• Note how the phases are driven so that

the rotor takes half steps
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 More on Stepper Motors

• Animation shows how coils are energized

for full steps
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 More on Stepper Motors

• Full step sequence • Half step

showing how binary sequence of
numbers can control binary control
the motor numbers
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 Stepper MotorApplications

• Film Drive • I. .VPump

• Optical Scanner • BloodAnalyzer
• Printers • FAX Machines
• A
TM Machines • Thermostats
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 Switched Reluctance Motor

• Aswitched reluctance or variable reluctance motor does not contain any

permanent magnets. The stator is similar to a brushless dc motor. However,
the rotor consists only of iron laminates. The iron rotor is attracted to the
energized stator pole. The polarity of the stator pole does not matter.Torque is
produced as a result of the attraction between the electromagnet and the
iron rotor in the same way a magnet is attracted to a refrigerator door.An
electrically quiet motor since it has no brushes.

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 Switched Reluctance MotorApplications

• Motor scooters and other electric and hybrid

vehicles
• Industrial fans, blowers, pumps, mixers,
centrifuges, machine tools
• Domestic appliances
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 BrushlessAC Motor

• Abrushless ac motor is driven with ac sine wave voltages. The

permanent magnet rotor rotates synchronous to the rotating
magnetic field. The rotating magnetic field is illustrated using a
red and green gradient.An actual simulation of the magnetic
field would show a far more complex magnetic field.

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 AC Induction Motor

• The stator windings of an ac induction motor are distributed around the

stator to produce a roughly sinusoidal distribution. When three phase ac
voltages are applied to the stator windings, a rotating magnetic field is
produced. The rotor of an induction motor also consists of windings or
more often a copper squirrel cage imbedded within iron laminates. Only the
iron laminates are shown.An electric current is induced in the rotor bars
which also produce a magnetic field.

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 AC Induction Motor

• The rotating magnetic field of the stator drags the rotor around. The rotor
does not quite keep up with the the rotating magnetic field of the stator. It
falls behind or slips as the field rotates. In this animation, for every time
the magnetic field rotates, the rotor only makes three fourths of a turn. If
you follow one of the bright green or red rotor teeth with the mouse, you
will notice it change color as it falls behind the rotating field. The slip has
been greatly exaggerated to enable visualization of this concept.Areal
induction motor only slips a few percent.

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 Huge List ofApplications from Hurst
• Aircraft Window Polarizing Drives
• Antenna Positioning and Tuning Devices
• Audio/Video Recording Instruments
• Automated Inspection Equipment
• Automated Photo Developing Equipment
• Automated Photo Slide Trimming & Mounting
Equipment
• Automatic Carton Marking & Dating
Machines
• Automatic Dying and Textile Coloring
Equipment
• Automatic Food Processing Equipment
• Automatic I.V
. Dispensing Equipment
• Automatic Radio Station Identification
Equipment
• Automotive
• Automotive Engine PollutionAnalyzers
• Baseball Pitching Machine
• BloodAgitators
• Blood CellAnalyzer
• ……..
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• Warning Light Flashers
• Railroad Signal Equipment
• Remote Focusing Microscopes
• Resonator Drives for Vibraphones
• ……..
• Silicone Wafer Production Equipment
• Solar Collector Devices
• Sonar Range Recorders and Simulators
• Steel Mill Process Scanners
• ape Cleaning Equipment
T
• ape Input forAutomatic Typewriters
T
• elescope Drives
T
• Ultrasonic Commercial Fish Detectors
• Ultrasonic Medical Diagnostic Equipment
• Voltage Regulators
• Water and Sewage Treatment Controls
• Weather Data Collection Machines
• Welding Machines
• X-Ray Equipment
• XY Plotters
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 Stepper Motor from Mechatronics

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 Mechatronics Stepper Motor Continued

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 Mechatronics

• Mechatronics is at the intersection

between several disciplinary areas, as
represented by these Venn diagrams
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 What Is Mechatronics?
• Mechatronics is the synergistic integration
of mechanical engineering, electronics,
controls, and computers; all integrated
through the design process.
• EXAMPLES:
• robots
• anti-lock brakes
• photocopiers
• consumer products (e.g., clothes dryers)
• disk drives
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 MEMS
• Micro-Electro-Mechanical Systems (MEMS) is the
integration of mechanical elements, sensors,
actuators, and electronics on a common silicon
substrate through the utilization of microfabrication
technology.W hile the electronics are fabricated using
integrated circuit (IC) process sequences (e.g.,
CMOS, Bipolar, or BICMOS processes), the
micromechanical components are fabricated using
compatible "micromachining" processes that
selectively etch away parts of the silicon wafer or
add new structural layers to form the mechanical and
electromechanical devices.

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 MEMS Stepper Motor

• This motor is very much like the other

stepper motors mentioned above, except
that it is 2D and very small

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 MEMS

• The potential complexity of the MEMS device

increases exponentially with the number of
unique process features and individual structural
layers.
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 MEMS: Steam Engine

• Water inside of three compression cylinders is

heated by electric current and vaporizes,
pushing the piston out. Capillary forces then
retract the piston once current is removed.
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 MEMS

• Rotary motor
• Steam Engine (single piston)

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 MEMS Gear Trains

• Six gear planar train at various speeds

• Close up of six gear train

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 Power MEMS

• 80 Watt gas microturbine designed and

built at MIT for MEMS power applications

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 Integrated MEMS
• This six-degrees-of-
freedom micro-inertial
measurement system
combines
microelectronic circuitry
[top right] with a couple
of
• micromechanical
elements: an
accelerometer [center
right] and gyroscope
[bottom right].

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 Integrated MEMS
• Types of micromechanical
devices that might be used
in integrated microsystems
of the future [shown
clockwise from right] include
this gear, pop-up mirror,
mirror assembly,and hinge.
The gear is part of an
assembly that has
demonstrated torque ratios
of up to 3 million to 1. The
silicon mirror is fabricated
flat on the silicon wafer, then
"popped up" to its raised
position using the gear
assembly.

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 Integrated MEMS
• Sample collection regions for
concentration, microseparation
channels, sensor arrays for
detection, and an exit region
are illustrated in schematic of
the chemical analysis section
of a micro-chemlab. Chemicals
are detected measuring the
response of surface acoustic-
wave devices to a chemical's
presence. The photograph is of
an array of micromachined 3-
µm silicon posts in a
microchannel being studied as
a tool for enhancing
electrokinetically driven liquid
separations.

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 MEMS Displays

• Iridigm Display -- The iMoD element uses

interference to create color in the same way that
structural color works in nature. Microscopic
structures on butterfly wings and peacock feathers
cause light to interfere with itself, creating the
shimmering iridescent colors that we see in these
creatures. (Used in PDAs)
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 MEMS Displays

• The iMoD element is a simple MEMS device that is composed of two

conductive plates. One is a thin film stack on a glass substrate, the other is
a metallic membrane suspended over it. There is a gap between the two
that is filled with air.The iMoD element has two stable states. When no
voltage is applied, the plates are separated, and light hitting the substrate is
reflected as shown above. When a small voltage is applied, the plates are
pulled together by electrostatic attraction and the light is absorbed, turning
the element black.

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 MEMS Displays

• iMoD elements are minuscule, typically 25-60 microns on a side

(400-1,000 dots per inch). Therefore, many iMoD elements are
ganged and driven together as a pixel, or sub-pixel in a color display.
The color of the iMoD element is determined by the size of the gap
between the plates.As shown, the blue iMoD has the smallest gap
and the red has the largest. T
o create a flat panel display,a large array
of iMoD elements are fabricated in the desired format (i.e. 5" full
color VGA) and packaged. Finally,driver chips are attached at the
edge to complete the display.
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 References
• Motor Operation Principles from
Freescale/Motorola by Ken Berringer
• Basic Stepper Motor Concepts
• MEMS Clearinghouse
• Mechatronics at Rensselaer
• Mechatronics.org
• Beakman’s Motor: Electronic
Instrumentation and Fields and Waves I

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 Primary Course Goal for IEE
• Assure that each EE and CSE student has a
minimum of 20 hours of practical electronics and
instrumentation experience before they begin
taking disciplinary courses.
 For students with no experience – 20 hours
successfully completing labs
 For students with some experience – 20 hours
completing labs, expanding their knowledge base and
helping those with less experience
 For students outside of EE and CSE – provide a
working knowledge of electronics

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 Where W ill Y
ou See This MaterialAgain?
• Mechatronics: MANE-4490 Mechatronics,
MANE-4250 Mechatronic Systems Design,
MANE 6960 Sensors & Actuators in
Mechatronics
• Motor Drives: ECSE/EPOW-4080 Semiconductor
Power Electronics and EPOW-4090 Power
Electronics Lab
• Motor Control: ENGR-2350 Introduction to
Embedded Control
• Concentration in Power Electronics: EPOW-4080
and MANE-4490
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