Professional Documents
Culture Documents
Craig 1
Motors for Mechatronics
An Introduction
Dr. Kevin Craig
Professor of Mechanical Engineering
Rensselaer Polytechnic Institute
Motors for Mechatronics An Introduction K. Craig 2
Introduction to Motors
The actuator in a motion control system is the component that
delivers the motion. It is the component that delivers the
mechanical power which may be converted from an electric,
hydraulic, or pneumatic power source.
Here we study the two power-conversion components: the
electric motor and the drive. The drive is the power-
amplification and power-supply components that work with
the motor; it controls current to produce torque.
We focus on motor-drive technologies that can be used in
high-performance motion control applications, i.e., involving
closed-loop position and velocity control with high accuracy
and high bandwidth.
Motors for Mechatronics An Introduction K. Craig 3
The focus will be on:
Brushed DC Motors
Brushless DC Motors
Stepper Motors (permanent magnet, hybrid, and variable
reluctance)
Shown are the typical motor control functions to be implemented
in a motor drive sensor system
Motors for Mechatronics An Introduction K. Craig 4
What is a Servo System?
A servo system is the drive, motor, and feedback device that
allows precise control of position, velocity, or torque using
feedback loops.
Stepper motors allow precise control of motion, but they are
not servos because they most often run open-loop.
The most easily recognized characteristic of servo motion is
the ability to control position at high bandwidths.
However, there are servo applications that do not require fast
acceleration, e.g., web-handling applications process rolled
material and usually attempt to hold velocity constant in the
presence of torque disturbances.
Servos must have feedback signals to close control loops,
either independent (e.g., encoder and resolver) or intrinsic
(e.g., motor current), often called sensorless (a misnomer).
Motors for Mechatronics An Introduction K. Craig 5
The operating principle of any electric motor involves one
or more of the following three physical phenomena:
Opposite magnetic poles attract and like magnetic poles
repel.
Magnets attract iron and seek to move to a position to
minimize the magnetic reluctance (analogous to electrical
resistance) to the magnetic flux (analogous to electrical
current).
Current-carrying conductors create an electromagnet and
act like a current-controlled magnet.
Motors for Mechatronics An Introduction K. Craig 6
Consider the electromagnet shown below.
The magneto-motive force (analogous to electrical voltage)
is
N is the number of turns of coil and i is the current
The flux path is through the iron core and back through the
air to complete the magnetic circuit
Note the right-hand rule for flux
mmf Ni = =
V
i
R
V iR =
=
c
Ni magnetomotive force
reluctance
A
1
permeance
=
=
( )
( )
( )
A A T E
B B T E
C C T E
T I K sin
T I K sin 120
T I K sin 240
=
=
=
M T S
T K I =
After
trigonometric
manipulation
Motors for Mechatronics An Introduction K. Craig 64
Phase control for brushless PM motors is show below. The
concept is to command each of the phase currents according
to:
( )
( )
( )
C C
AC E BC E
T T
C
CC E
T
T T
I sin I sin 120
K K
T
I sin 240
K
= =
=