Professional Documents
Culture Documents
Week
1 2 3
Date
7 Mar 14 Mar 21 Mar
Content
Introduction Design Process System Modelling and Control
Assignment Notes
4
5 6
28 Mar
4 Apr 11 Apr
Actuators
Sensors Computer Hardware Assignment 1 Due
BREAK
7 8 9 10 11 12 13 14 25 Apr 2 May 9 May 16 May 23 May 30 May 6 June Public Holiday: ANZAC Day Active Sensing Systems Computer Software Digital vs. Power Electronics Case Study I Case Study II Guest Lecture Spare Major Assignment Due Assignment 2 Due
Slide 1
Slide 2
What is an actuator?
A mechanical device for moving or controlling something Electric Motors and Drives Hydraulic Drives Pneumatic Drives Internal Combustion hybrids Actuators of the future
DC Motors
AC Motors Linear Motors Stepper Motors
Slide 3 Mtrx 1701: Introduction to Mechatronics Slide 4
DC-Motors
Rotary actuators Power range: Fractions of watts to 100s of Kw. Power supply by grid, diesel generator, or batteries Easy to control accurately
Mtrx 1701: Introduction to Mechatronics Slide 5
Slide 6
DC-Motors
Apply a voltage to armature Armature rotates in magnetic field Speed control by:
=K.V
T = KT ia
Torque Constant Current flowing in Armature
Ra ia + Vb = Va Ra ia + K b = Va
DC Motors Behaviour I
Equations of Motion: Torque Drives a Load
T = KT ia
No-load Speed
Ra ia + K b = Va
T T
Stall Torque
Slide 11
B
J
T=
KT Va K b KT Ra Ra
+
T=J
Ra 1 T+ Va K b KT Kb
d + B dt
K K d +B+ b T dt Ra
KT Va = Ra
Slide 12
DC Motors: Behaviour II
J d K K K + B + b T = T Va dt Ra Ra
1 0.9 0.8 0.7 0.6 Output
DC Servo Motors
Power range: few W to few kW: for disc drives, X-Y recorders, instruments, robot arms Speed: very low to very high 10000 rpm (use gear boxes) Time-constants (ms): Electrical, Mechanical and thermal Friction: Coulomb, viscous, stiction Often in-built encoders or tachometers
Mtrx 1701: Introduction to Mechatronics Slide 14
d (t ) + K1(t ) = K 2V (t ) dt
(t ) = K 2 e K1tV (t )
0.5
1.5
3.5
4.5
Slide 13
No field windings Result is motors which are smaller and linear Motor is inside-out (magnets rotate).
Mtrx 1701: Introduction to Mechatronics Slide 15
Pulse-Rate-Modulated (PRM)
Output Voltage Constant pulse length Output is average Over all periods
Slide 16
Some Examples
Consumer Products:
CDs, disk drives Fans, drills, etc
Accurate position or velocity control Low noise, high efficiency Cost not too critical Speed and power payoff (gearing)
Manufacturing
Robots CNC machines
Aerospace
Sensor pointing Fly-by-wire inputs
Cars:
Windscreen wipers Fuel management
Mtrx 1701: Introduction to Mechatronics Slide 17 Mtrx 1701: Introduction to Mechatronics Slide 18
AC-MOTORS: An Introduction
1
AC-MOTORS: An Introduction
~V
Single or three phase motors 100 Watts MW High power high torque applications Brushless, durable, easy to maintain Now fully digital vector controlled
Slide 19 Mtrx 1701: Introduction to Mechatronics Slide 20
vm = Vmcost ~
vc = kVm sint
Slide 21
Applications of AC Drives
Large Cranes or material handling systems Belts or conveyors High Speed Trains Electric Drive Haul Trucks (930E)
Load Demand
High duty cycle Efficiency Reliable
Mtrx 1701: Introduction to Mechatronics Slide 23
Slide 24
Stepper Motors
Motors that cause angular shift correspondence to a number of pulses
1st method: providing a fixed number of pulses, motion proportional to number of pulses 2nd method: synchronising rotations with the input pulse frequency
Mtrx 1701: Introduction to Mechatronics Slide 25
Stepper Motors
PM type: permanent magnets rotor VR (variable reluctance) type: salient poles rotor, torque is generated from difference of magnetic resistance Applications: Electronic typewriters and printers, magnetic disk drives
Slide 26
Voice Coil
Voice coil is an actuator based on similar principles to a motor current appplied to coil induces magnetic field Uses closed loop feedback servoing to dynamically position heads in a computer hard drive Name voice coil comes from resemblance to technology used to drive audio speaker
Mtrx 1701: Introduction to Mechatronics Slide 27
Slide 28
F = iB
Slide 29
Slide 30
Advantages
Easy to use, Low priced control device No brush maintenance
Disadvantages
Brush replacement. Has restrictions in respect of operating environment Control device is expensive due to its complexity Detector is necessary
Applicable capacity
0.1 - few 100 Watts
Brushless motor (PM synchronous) Synchronous motor (vector control) Induction motor (vector control) Stepping motor
Excellent environment resistivity Durable construction Open loop control, large static torque
Traditionally High Power applications Now use integrated electronics and sensing
Slide 31 Mtrx 1701: Introduction to Mechatronics Slide 32
Hydraulic Circuits
Hydraulic Power Units: Pumps Accumulators (fluid capacitors) Check valves to isolate hydraulic systems Reservoirs Piping and Fittings Proportional/servo valves Hydraulic actuators
Mtrx 1701: Introduction to Mechatronics Slide 33
Two Types:
Vane/gear pumps Piston/swash-plate
Mtrx 1701: Introduction to Mechatronics Slide 34
Hydraulic Motor
Slide 35
Slide 36
Hydraulic Valves
Three main valve types:
On/off valves for manual control Proportional valves: Control of volume flow rate Servo valves: Accurate control of flow and pressure
Pressure Force
Fc = PA c Area
Friction
Slide 37
Control Mode: Electric over hydraulic Hydraulic over hydraulic (pilot) Manual
Mtrx 1701: Introduction to Mechatronics Slide 38
10
Mobile Systems
Steering, brakes Propulsion and transmission
Aerospace
Aerolon actuation in aircraft Fin actuation in missiles/rockets
Mtrx 1701: Introduction to Mechatronics Slide 42
Pneumatic Systems
Many of the same principles as hydraulics except working fluid is compressed air Compressed air widely available and environmentally friendly, Piping installation and maintenance is easy Explosion proof construction Major disadvantage is compressibility of air, leading to low power densities and poor control properties (usually on/off) Pneumatic systems are suitable for light and medium loads (30N-20kN) with temperature -40 to 200 degrees Celsius
Mtrx 1701: Introduction to Mechatronics Slide 43
Pneumatic Actuators
11
Servovalve offers closed loop control of acceleration, velocity, positioning and force
Twin cylinder piston vacuum pump or compressor 250 W motor developing 2.8 bar with flow to 8.7 m3/hr
Slide 45
Slide 46
Pneumatic Applications
Manufacturing
Robot grippers Movement of parts Assembly operations
Medical Systems
Drills/cutting tools Suction and clamping
Robotics
Animatronics Grippers Subsea
Mtrx 1701: Introduction to Mechatronics Slide 47
Slide 48
12
Slide 49
Slide 50
Future Actuators...
Actuators using functional materials Piezoelectric element actuator Ultrasonic Motors Actuators of shape memory alloys Plasma motors Bio-actuators ..and many more !
Mtrx 1701: Introduction to Mechatronics Slide 52
13
http://www.piezo.com/bendedu.html
Mtrx 1701: Introduction to Mechatronics Slide 53 Mtrx 1701: Introduction to Mechatronics Slide 54
And finally.MEMs
Summary
There are many types of actuators available today Selecting the right actuators is a critical part of the design cycle Requires an understanding of
Type of motion Precision of motion Magnitude of motion Operating conditions
Slide 55
Slide 56
14
Questions?
Slide 57
15