ACTUATORS

P R E S E N T E D BY:
P R A D O S H KU M A R P, M O H A M E D H U S SA I N K , G . JA N E S H WA R A N
R E S EA R C H S C H O L A R – N I T T ( I C E D E P T. )

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 ACTUATORS

The component of a system (or machine) which moves or controls mechanism

or the system is called actuator.
• An actuator requires control signal and source of energy.
• Upon receiving control signal, actuator responds by converting energy into
mechanical motion.
•The control system can be simple (fixed mechanical or electric system), software
based (e.g. a printer driver, robot control system), a human or any other.

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ACTUATORS

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 TypesofActuators

Hydraulic actuator
• This actuator converts mechanical motion into linear, rotary or oscillatory
motion.

• The hydraulic actuator consists of cylinder or fluid motor which uses hydraulic
power to help mechanical operation.

• Liquids are nearly impossible to compress, hydraulic actuator maintains

considerable force. Limited acceleration of actuator restricts its usage.

Example: Hydraulic brake in vehicle

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 Types of Actuators
Pneumatic actuator
•This actuator converts energy formed by vacuum or compressed air at high pressure
into linear or rotary motion.
• They are responsible to convert pressure into force.
Advantages: 
1. Pneumatic energy responds quickly to start and stop signals.
2. Pneumatic actuators produce large forces from relatively small pressure changes.
Examples:
➤Rack and Pinion actuators used for valve controls of pipes
➤Pneumatic brakes are very responsive to small pressure changes applied by the
driver. 5
 Types of Actuators

Electrical actuator
It is powered by motor which converts electrical energy into mechanical torque.
Electrical energy is used to actuate equipments (e.g. solenoid valves) which
control water flow in pipes with response to electrical signals.

Advantages: cheap, clean, speedy type of actuator.

 Examples: Solenoid based electric bell ringing mechanism

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 Types of Actuators
Smart Actuators
•A smart actuator is defined as the integrated actuator of all components such as
motor, controller, sensors, and communication unit. The robot which is linked to a
smart actuator can be assembled or disassembled and reconfigured.
•Smart actuators are increasingly finding their way into applications that were once
dominated by pneumatic and hydraulic systems.
•The mobile off-highway (MOH) vehicle market was among the first to deploy
electric actuators for enhanced control and automation capabilities available in
the field. However, other industries have begun to realize the many benefits of
smart actuation.

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 Actuators in Embedded systems
•Actuator is used for output. It is a transducer that may be either mechanical or
electrical which converts signals to corresponding physical actions. Ex. LED (Light
Emitting Diode)
• LED is a p-n junction diode and contains a CATHODE and ANODE
• For functioning the anode is connected to +ve end of power supply and cathode is
connected to –ve end of power supply.
•The maximum current flowing through the LED is limited by connecting a RESISTOR
in series between the power supply and LED as shown in the figure below.

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 Actuators Interfacing in Embedded systems

There are two ways to interface an LED to a microprocessor/microcontroller:

1. The Anode of LED is connected to the port pin and cathode to Ground : In this
approach the port pin sources the current to the LED when it is at logic high(ie.
1).
2. The Cathode of LED is connected to the port pin and Anode to Vcc . Here the
port pin sinks the current and the LED is turned ON when the port pin is. at Logic
low (ie. 0).

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 Interface

Relays, solenoids, and DC motors are grouped together because their electrical
interfaces are similar.
One can add speakers to this group if the sound is generated with a square
wave. In each case, there is a coil, and the computer must drive (or not drive)
current through the coil. To interface a coil, we consider voltage, current, and
inductance.
We need a power supply at the desired voltage requirement of the coil.
 Interface
When interfacing a coil to the microcontroller, we
use information in the Table to select an interface
device capable of sinking the current necessary to
activate the coil.

When the digital Port output is high, the interface

transistor is active, and current flows through the
coil.

When the digital Port output is low, the transistor

is not active, and no current flows through the
coil.
 Interface
If the coil is a DC motor, then the emf is a
function of both the speed of the motor and
the developed torque (which in turn is a
function of the applied load on the motor.)
Because of the internal emf of the coil, the
current will depend on the mechanical load.
For example, a DC motor running with no load
might draw 50 mA, but under load (friction) the
current may jump to 500 mA.

Binary interface to EM relay, solenoid, DC motor, or speaker

TIP120 circuit
Interface
 Electromagnetic and Solid State Relays
A relay is a device that responds to a 1. The classic general purpose relay has
small current or voltage change by an EM coil and can switch AC power
activating switches or other devices in
2. The reed relay has an EM coil and can
an electric circuit.
switch low level DC electronic signals
The input signal determines whether
3. The solid state relay (SSR) has an
the output switch is open or closed.
input triggered semiconductor power
switch

SSR
 Solenoids
Solenoids are used in discrete mechanical
control situations such as door locks,
automatic disk/tape ejectors, and liquid/gas
flow control valves (on/off type).
Much like an EM relay, there is a frame that
remains motionless, and an armature that
moves in a discrete fashion (on/off).
A solenoid has an electromagnet.
When current flows through the coil, a
magnetic force is created causing a discrete
motion of the armature.
 Pulse-width modulation
The basic idea of PWM is to create a
digital output wave of fixed frequency,
but allow the microcontroller to vary
its duty cycle.
Figure shows various waveforms that
are high for H cycles and low for L
cycles.
The duty cycle is defined as the
fraction of time the signal is high:
Pulse width modulation used to vary power delivered to a DC motor.
 Stepper motors
Stepper motors are used in
applications where precise positioning
is more important than high RPM, high
torque, or high efficiency.
Stepper motors are very popular for
microcontroller-based embedded
systems because of their inherent
digital interface.
 RFID AND KEYPAD
SECURITY SYSTEM USING
8051 MICRO CONTROLLER
(CASE STUDY)
 COMPONENTS
8051 microcontroller
RFID module
Keypad module
DC Motor
LCD display module
Connecting wires
Buzzer
 RFID(RADIO FREQUENCY
IDENTIFICATION) MODULE
PIN NO NAME I/O DETAILS
1 GND Power gnd
gnd
2 VCC Power Power
in Supply
(7-9V)
1 TXD o/p Transmi
t
2 GND Power Gnd
gnd
3 RXD i/p Receive
4 D0 i/o Data
5 D1 i/o Data
KEYPAD MODULE
 LCD MODULE
PIN NO NAME DESCRIPTION
1 GND Ground
2 VCC Power supply
(5V)
3 VO Connected with
POT (LCD contrast
adjustment)

4 RS 0(send commands)
1(send i/o)

5 R/W 1(Read data)

0(write data)
6 EN 0(do not care)
1(enable data)
7-14 DATA PINS Display data
15,16 Led+,Led- Back running led
 MOTOR DRIVER IC-L293D
Inputs – pin (2,7,10,15)
Output-pin(3,6,11,14)
Ground-pin(4,5,12,13)
Enable1-pin1(enable input pin 2&7)
Enable2-pin9(enable input pin 10&15)
Vcc1-pin16-used to enable IC function
(5V)
Vcc2-pin8-connected to voltage from
running motors (4.5V to 36V)
INPUT – OUTPUT DEVICES
SCHEMATIC DIAGRAM
 PROGRAM
INCLUDE FILES INITILIZE KEYPAD MODULE

#include<reg51.h> //8051 microcontroller sbit col1=P0^0;

#include<string.h> sbit col2=P0^1;

#include<stdio.h> sbit col3=P0^2;

#define lcdport P1 //initialize lcd module interface sbit col4=P0^3;

sbit rs=P1^0; sbit row1=P0^4;

sbit rw=P1^1; sbit row2=P0^5;

sbit en=P1^2; sbit row3=P0^6;

sbit m1=P2^4; sbit row4=P0^7;

sbit m2=P2^5; CREATE FUNCTION DELAY

sbit buzzer=P3^1; void delay(int itime)

char i,rx_data[50]; {

char rfid[13],ch=0; int i,j;

char pass[4]; for(i=0;i<itime;i++)

for(j=0;j<1275;j++); }
 LCD PROGRAM
INTIALIZE LCD VALUES char rxdata()
void lcd_init(void) //used to initialse lcd 4 bit mode {
{ while(!RI); ch=SBUF; // Then move the data to send in SBUF
//send commands to LCD
RI=0; return ch;
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}
lcdcmd(0x08); // Move the Cursor to First line First Position
void lcdcmd(unsigned char ch)
lcdcmd(0x38); // LCD 2lines, 5*7 matrix {

lcdcmd(0x0e); // Display ON cursor ON     lcdport=ch & 0xf0;

    cmden();
lcdcmd(0x01); // Clear the LCD     lcdport=(ch<<4) & 0xf0;
    cmden();
} }
INITILIZE UART
void lcdstring(char *str)
void uart_init() {
    while(*str)
{     {
        lcddata(*str);
TMOD=0x20; //Set timer 1 mode to 8-bit Auto-Reload         str++;
    }
SCON=0x50; //Enable reception;Set Serial port mode to 8-bit UART }
TH1=0xfd; //Set baudrate to 9600 at 11.0592MHz
 KEYPAD PROGRAM
void keypad() else if(!row2)
{      {
    lcdcmd(1);         lcddata('4');
    lcdstring("Enter Ur Passkey");         pass[i++]='4';
        while(!row2);
    lcdcmd(0xc0);    }
    i=0;      
    while(i<4)       else if(!row3)
    { //reading keypad value finding column and row value      {
by checking each column//         lcddata('7');
     col1=0;         pass[i++]='7';
     col2=col3=col4=1;         while(!row3);
     if(!row1)    }
     
     {
      else if(!row4)
        lcddata('1');      {
        pass[i++]='1';         lcddata('*');
        while(!row1);         pass[i++]='*';
   }         while(!row4);
     …    }
 RFID SCANNING
 while(1)  if(strncmp(pass,"4201",4)==0)
    {             {
        lcdcmd(1);             accept();
        lcdstring("Place Your Card:");             lcdcmd(1);
        lcdcmd(0xc0);             lcdstring("Access Granted ");
        i=0;             lcdcmd(0xc0);
        for(i=0;i<12;i++)             lcdstring("Person1");
            m1=1; // motor driver operation
Receving data from card             m2=0;
            delay(300);
            m1=0;
        rfid[i]=rxdata();             m2=0;
        rfid[i]='\0';             delay(200);
        lcdcmd(1);             m1=0;
        lcdstring("Your ID No. is:");             m2=1;
        lcdcmd(0xc0);             delay(300);
        for(i=0;i<12;i++)             m1=0;
        lcddata(rfid[i]);             m2=0;
        delay(100);           }
IMPLEMENTATION
THANK YOU

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