Actuators

Characteristics , advantages , disadvantages , and applications of each type

Types of actuators

Continues
Electrical motors , Hydraulic , heaters , lights , sirens/horns

Logical
Pneumatics, Solenoids and Magnetic coils for attraction, or repulsion

Continues actuators

Continuous actuators allow a system to position or adjust outputs over a wide range of values
continuous actuators tend to be mechanically complex devices

ELECTRIC MOTORS

An electric motor is composed of a rotating center, called the rotor, and a stationary outside, called the stator. These motors use the attraction and repulsion of magnetic fields to induce forces, and hence motion. Typical electric motors use at least one electromagnetic coil, and sometimes permanent magnets to set up opposing fields.

DC motors

In a DC motor there is normally a set of coils on the rotor that turn inside a stator populated with permanent magnets

Motor directional control

Pulse Width Modulation signal can be used to drive a motor with the circuit shown below. The PWM signal switches the NPN transistor, thus switching power to the motor. In this case the voltage polarity on the motor will always be the same direction, so the motor may only turn in one direction.

Motor directional control

When a motor is to be controlled with PWM in two directions the H-bridge circuit (shown below) is a popular choice. These can be built with individual components, or purchased as integrated circuits for smaller motors. To turn the motor in one direction the PWM signal is applied to the Va inputs, while the Vb inputs are held low. In this arrangement the positive voltage is at the left side of the motor. To reverse the direction the PWM signal is applied to the Vb inputs, while the Va inputs are held low. This applies the positive voltage to the right side of the motor.

Advantages and disadvantages of electrical dc motor

feedback compatible computer compatible quiet, clean low power/weight ratio

Stepper motor

Stepper motors are designed for positioning. They move one step at a time with a typical step size of 1.8 degrees giving 200 steps per revolution. Other motors are designed for step sizes of 2, 2.5, 5, 15 and 30 degrees.

Stepper motors often have no feedback. They use four wires changed in pattern to turn the rotor. To turn the motor the phases are stepped through 1, 2, 3, 4, and then back to 1. To reverse the direction of the motor the sequence of steps can be reversed, eg. 4, 3, 2, 1, 4, ..... If a set of outputs is kept on constantly the motor will be held in position.

Advantages and disadvantages of stepper motor

Easy control Low output torque Do not required feed back sensors Low resolution Good for position control

HYDRAULICS

Hydraulic systems are used in applications requiring a large amount of force and slow speeds. When used for continuous actuation they are mainly used with position feedback.

MAJOR APLICATIONS
Construction equipment Cranes Backhoe front loader

Robotics
Part placement movement of any type

HOW HYDRAULIC ACTUATORS WORK

THREE MAIN PARTS OF HYDRAULIC ACTUATORS

These are used to move the fluid.

These are used to control the amount of fluid that is flowing to the piston chambers

These are the chambers that contain the fluid

There are many types of hydraulic actuators. The main functions are Pushing and spinning.

HOW HYDRAULIC ACTUATORS WORK

The focus of these slides will be the pushing actuator.

HOW HYDRAULIC ACTUATORS WORK

THE BASICS Hydraulics cause motion by increasing or decreasing pressure on either side of the piston.

To control this a electrical circuit is designed to open and close the valves at the appropriate time and to activate the pump.

HOW HYDRAULIC ACTUATORS WORK

Here is a model of how some pushing actuators work.

Notice the wheat stone bridge of variable resistance to the flow of fluid. This is caused by valves.

HOW HYDRAULIC ACTUATORS WORK

Here is a model of a crane hydraulic system. Notice that there is pump, valves and piston are present. The pump is driven by a gas or diesel engine.

Advantages and disadvantages of hydraulic actuators

-

High power / weight Easy control High cost Complex

Logical actuators
Logical actuator dont allow the system to position Commonly logical actuator used for system which have two points as solenoids and pneumatic cylinder

Solenoid Actuators
Solenoids convert electrical energy into mechanical work

Construction

A standard solenoid is constructed with a core, inside the coil, made of two sections - a fixed pole piece, or backstop (A), A movable armature or plunger (B)

Construction

And an iron frame around the coil winding (C). The magnetic lines of force created by the electric current in the coil react to close the gap (D)

Construction

Between the plunger and backstop; the plunger moves and generates a linear force - mechanical work. The movable plunger is held in position in the center of the coil winding by a guide (E) which may be made either of non-magnetic metal or plastic.

Principles

Current passing through a helical coil winding of closely spaced turns of copper magnet wire produces a magnetic field which surrounds the coil. If an iron structure is assembled around the winding, the magnetic force is channeled through the metal and is considerably increased because of the magnetic permeability of the iron. All solenoids develop magnetizing force, which has a relationship to the current and number of turns in the coil.

Applications

Automotive Linear Movement Small Valve Mechanisms Flow Control Non-Stick Latches Anywhere where fast linear movement is required

Major Specifications Selection Factors

Voltage Standard values may be listed for both AC and DC types Duty cycle - Specifies the length of time the solenoid coil is to be electrically energized and deenergized. They range from continuous to 5% intermittent Current and Power Temperature

Major Specifications Selection Factors

Stroke Distance the plunger must travel Force Push or pull energy the actuator must exert Mounting and Environment Coil heat is bad for the Solenoid Codes and Standards

Limitations

Temperature of device may increase very fast Limited to current input possible Limited to force of actuator Large force = Lots of money Must be mounted very firm Must control with PWM or AC

Advantages

Very strong Very fast Very customizable to specifications Several Manufacturers Great for high power short bursts

Types of Solenoids

Linear Rotary Long Stroke Micro Machine High Power

Pneumatic Actuation
A pneumatic system is system used to convert the air pressure to mechanical force

Major Applications

Industrial Applications

Production Automation Process Automation Vehicular Applications Monitoring storage capacity Vehicular Industrial

Cryogenic Systems

High Temperature Applications (500+ C)

Components of a Pneumatic System

Compressed air generation system

Compressor Cooler Storage Tank Intake and Output Filters FLR (Filter, regulator, lubrifier) Assembly

Compressed air treatment unit

Valve (Regulator of the pneumatic system) Actuator (Converts pneumatic power into mechanical power) Piping Sensors and Transducers System Display

Physical Magnitude Measurement Control Devices

Pneumatic System Basics...

The figure below illustrates a basic fluid actuation system.

-Command Part represents the control commends sent from Controller -Sensors provide feedback from the Actuator to the Controller -The Actuator is a double-acting cylinder in this case

Pneumatic System Basics...

Pneumatic Compressor Classification

The Mechatronics Handbook

Pneumatic System Basics...

Piston Compressor Types

Single Action

Double Action

Pneumatic System Basics...

Valve Classification

Directional

Determine the passage and the flow of the air current by means of appropriate moving parts contained in them actuated from the outside. Unidirectional valves. Only allow air to move in one direction. Also known as non-return or check valves. Relief and pressure limiter are the two kinds of pressure regulators.

On-Off

Pressure Regulator

Flow-Rate Regulator

Pneumatic System Basics...

Two types of Valve control

PWM (Pulse Width Modulation)

Sample of PWM signal used to control valve

Proportional

Normally three-way, with double poppets or with spool

Advantages/Disadvantages

Advantages of Pneumatics

Better bandwidth than electromagnetic Large load disturbance immunity Works good at high temperatures (500+ C) Stick-Slip (intermittent motion at low movement speeds due to friction forces Inferior to Hydraulics in some ways

Disadvantages of Pneumatics