Final Control Element (Chp3)

FINAL CONTROL ELEME
FINAL CONTROL ELEMENT

The
final control element adjust the

amount of energy/mass goes into or
out from process as commanded by
the controller
The common energy source of final
control elements are:
Electric
Pneumatic
Hydraulic
MASON/FINAL CONTROL ELEMENT/2010
ELECTRIC FINAL CONTROL

ELEMENT
Electric current/voltage
Solenoid
Stepping Motor
DC Motor
AC Motor
CHANGING
Current or voltage can be easily changed to
CURRENT/VOLTAGE
adjust the flow of energy goes into the

process e.g. in heating process or in speed
control
Heater elements are often used as device
to keep the temperature above the ambient
temperature. Energy supplied by the heater
element is
W = i2rt (i=current, r=resistance, t=time)
Motor is often used as device to control the
speed
4
CHANGING
CURRENT/VOLTAGE
Using
Potentiometer
Amplifier
Ward Leonard system
Switch (on-off action)
Changing Current/Voltage
Using Rheostat
I = V/(R1+R2)
Rheostat
Heater
R1
Power at rheostat
P1 =I2R1
V
R2
Power at heater
P2 =I2R2
Disadvantage loss of
power at rheostat
Example of Heating elements
Using Amplifier
Potentiometer
V+
Heater
R1
V
amplifier
R2
V
Disadvantage loss of power at potentiometer (very small)
and at Amplifier
8
Using
Ward
Introduced
by HarryLeonard
Ward Leonard in 1891
Use a motor to rotate a generator at constant
System
speed
The output of generator voltage is adjusted by

changing the excitation voltage
Small change in excitation voltage cause large
change in generator voltage
Able to produce wide range of voltage (0 to 3000V)
Ward Leonard system is popular system to control
the speed of big DC motor until 1980s
Now a days semi conductors switches replaces this
system
Using Ward Leonard
System
excitation
voltage
MOTOR
10
GENERATOR
Using
Switch
The switch
is closed and opened repeatedly
No power loss at switch

VL
Switch
Switch closed
V
V
VL
LOAD
t
Switch opened
11
DUTY CYCLE
VL
T is period time typical in

millisecond order (fix)
Ton is switch on time (adjustable)
Toff is switch off time
Ton
Toff
T
Duty Cycle is:

(Ton/T) 100%
Of course we can not use mechanical switches to carry

on this task, electronic switches to be used instead.
E.g. Transistor, Thyristor, or IGBT
This methods is often called as Pulse Width Modulation
(PWM)
12
SOLENOID
When
the coil is energized the core will

be pulled in
core
coil
SOLENOID
13
coil
core
SOLENOID
When

be pulled in
SIMULATE
14
SOLENOID
When

be pulled in
SIMULATE
15
SOLENOID
Tubular solenoid
Open frame solenoid
Rotary solenoid
16
Solenoid
17
Solenoid Usage
pushing
buttons,
hitting keys on a piano,
Open closed Valve,
Heavy duty contactor
jumping robots
etc
18
STEPPING MOTOR
The top electromagnet (1) is turned

on,
attracting the nearest teeth of
a gear-shaped iron rotor. With the
teeth aligned to electromagnet 1, they
will be slightly offset from
electromagnet
19
The top electromagnet (1) is turned

off, and the right electromagnet (2)
is energized, pulling the nearest
teeth slightly to the right. This
results in a rotation of 3.6 in this
example.
STEPPING MOTOR
The bottom electromagnet (3) is

energized; another 3.6 rotation occurs.
The left electromagnet (4) is

enabled, rotating again by 3.6.
When the top electromagnet (1) is again enabled, the teeth in the
sprocket will have rotated by one tooth position; since there are 25
teeth, it will take 100 steps to make a full rotation in this example.
20
STEPPING MOTOR
Practical stepping motor can be controlled
for full step and half step.
Common typical step size is 1.8o for full
step and 0.90 for half step
Full step is accomplished by energizing 2
adjacent electromagnet simultaneously.
Half step is accomplished by energizing 1
electromagnet at a time.
21
Stepping motor
22
DC Motor
The brush
23
DC Motor
24
Practical DC Motors
Every DC motor has six
basic parts
axle,
rotor (a.k.a., armature),
stator,
commutator,
field magnet(s),
For a small motor the magnets is
made from permanent magnet
25
and brushes.
2 pole motor
Animate
26
2 pole motor
Animate
27
2 pole motor
Animate
28
2 pole motor
Animate
29
2 pole motor
Animate
30
2 pole motor
Animate
31
2 pole motor
Animate
32
2 pole motor
Animate
33
2 pole motor
continue
Animate
34
3 pole DC motors
1
The coil for each poles are

connected serially.
35
The commutator consist of

3 sector, consequently one
coil will be fully energized
and the others will be
partially energized.
3 pole DC motors
The commutator and the
coil is arranged in such a
way that the polarity of
each pole is as shown
animate
next
36
3 pole DC motors
animate
next
37
3 pole DC motors
animate
next
38
3 pole DC motors
animate
next
39
DC motors
40
As the rotor is rotating,

back emf (Ea) will be
produced, the faster the
rotor turn the higher Ea
and the smaller Ia.
Ia
Ea
motor
The starting current of

motors will be much
higher then the rating
current.
DC motors
Field winding
Armature winding
For big motors the magnet is

made from coil and core. The
current flowing in the coil is
called If and the current flowing in
the armature is called Ia.
The armature winding and the
field winding are connected to a
common power supply
The armature winding and the
field winding are often connected
in series, parallel, or compound.
The torque characteristic will be
different for each connection.
The figure shows a parallel
connection
41
SERIES DC MOTOR
Field and armature winding are

series connected, this type of
motor is called series DC motor
42
DC motors
Field and armature winding are

parallel connected, this type of
motor is called shunt DC motor
43
DC MOTOR
Compound DC motor is DC
motor having 2 field winding
the first one is connected
parallel to the armature
winding and the other is
connected series
44
DC MOTOR
Torque: T = KIa
K is a constant
magnetic flux
Ia is armature current
Magnetic
flux is constant if it is from

permanent magnet
It is depend on the If if it is produced
by current
45
DC MOTOR TORQUE-SPEED
CURVE
Torque: T = KIa
46
SERIES DC MOTOR
TORQUE-SPEED CURVE
Torque:
T = KIa
T= KIa2
47
SHUNT DC MOTOR
TORQUE-SPEED CURVE
Torque: T = KIa
48
COMPOUND DC MOTOR
TORQUE-SPEED CURVE
49
SYNCHRONOUS AC MOTOR
N
The rotating field.
When alternating current is
applied to the field coil the
magnetic field will also
alternating. Therefore the
permanent magnet will
rotate
S
o
311
-311
~
50
N
The rotating field.

rotate
o
311
-311
~
51
N
The rotating field.

rotate
o
311
-311
~
52
The rotating field.
N

rotate
o
311
-311
~
53
S
The rotating field.

rotate
o
311
-311
~
54
S
The rotating field.

rotate
o
311
-311
~
55
S
This motor has 2 poles

If the frequency of the
current is f hertz
(cycle/s) then the rpm
n = f rps
n = (120f)/p rpm
311
-311
~
56
Where p is the number of

the poles
S
N
4 pole motor
57
THREE PHASE SYNCHRONOUS AC

MOTOR
R S T
R
R
S
T
N
4 pole 3 motor
58
59
SYNCHRONOUS AC MOTOR USING

EXTERNAL EXITER
R
The magnetic flux of permanent magnet is low for a bigger

motor we have to use externally exited magnetic field
60
ASYNCHRONOUS AC MOTOR
When instead of exited, the rotor coil is
shorted an induced current will be
generated and the rotor will be
magnetized and start to turn.
The faster the speed the smaller the
induced current and finally the current
will cease at synchronous speed and so
does the rotation
Iinduced
This motor will turn at speed less the its

synchronous rotation that is why it
called asynchronous motor
This motor is also called induction motor
61
Calculating Motor Speed
A squirrel cage induction motor is a constant speed device. It

cannot operate for any length of time at speeds below those shown
on the nameplate without danger of burning out.
To Calculate the speed of a induction motor, apply this
formula:
Srpm = 120 x F
P
Srpm = synchronous revolutions per minute.
120 = constant
F = supply frequency (in cycles/sec)
P = number of motor winding poles
Example: What is the synchronous of a motor having 4 poles

connected to a 60 hz power supply?
Srpm = 120 x F
P
Srpm = 120 x 60
4
Srpm = 7200
4
Srpm = 1800 rpm
62
Calculating Braking Torque
63
Full-load motor torque is calculated to determine the

required braking torque of a motor.
To Determine braking torque of a motor, apply this
formula:
T = 5252 x HP
rpm
T = full-load motor torque (in lb-ft)
5252 = constant (33,000 divided by 3.14 x 2 = 5252)
HP = motor horsepower
rpm = speed of motor shaft
Example: What is the braking torque of a 60 HP, 240V motor
rotating at 1725 rpm?
T = 5252 x HP
rpm
T = 5252 x 60
1725
T = 315,120
1725
T = 182.7 lb-ft
Calculating Work
Work is applying a force over a distance. Force is any cause

that changes the position, motion, direction, or shape of an
object. Work is done when a force overcomes a resistance.
Resistance is any force that tends to hinder the movement of
an object.If an applied force does not cause motion the no
work is produced.
To calculate the amount of work produced, apply this
formula:
W=FxD
W = work (in lb-ft)
F = force (in lb)
D = distance (in ft)
Example: How much work is required to carry a 25 lb bag of
groceries vertically from street level to the 4th floor of a
building 30' above street level?
W=FxD
W = 25 x 30
W = 750 -lb
64
Pneumatic Actuator
65
Pneumatic Actuator
Reverse-Acting
Actuator
66
67
I/P Converter
A "current to pressure" converter (I/P) converts an

analog signal (4-20 mA) to a proportional linear
pneumatic output (3-15 psig).
Its purpose is to translate the analog output from a
control system into a precise, repeatable pressure value
to control pneumatic actuators/operators, pneumatic
valves, dampers, vanes, etc.
Air supply
30 psi
Current
4 to 20 mA
I/P
Pneumatic 3 to 15 psi
Supplied to actuator
68
Sample of I/P Converter
69
Generation and distribution

of pneumatic pressure
Compressor is needed for pneumatic system

PC
PS
Regulator valve
Tank
To I/P
compressor
100 psi
70
30 psi
Hydraulic Actuator
71
Hydraulic Actuator
72
73
74
Hydraulic Actuator
75
Advantage
ELECTRIC
PNEUMATIC
HYDRAULIC
Accurate position
Suit to advance
control
No tubing
Inexpensive
Fast
No pollution
No return line
No stall damage
Large capacity
Locking capability
Self lubricating
Easy to control
Smooth operation
Low accuracy
Noise pollution
Difficult speed control
Need infrastructure
Expensive
Leakage problems
Difficult speed control
Need return line
Need infrastructure
Disadvantage
Low speed
Expensive
Unsafe
Need brake
overheating
76

Final Control Element (Chp3)

Încărcat de

Informații document

Titlu original

Drepturi de autor

Formate disponibile

Partajați acest document

Partajați sau inserați document

Opțiuni de partajare

Vi se pare util acest document?

Este necorespunzător acest conținut?

Drepturi de autor:

Formate disponibile

Final Control Element (Chp3)

Încărcat de

Drepturi de autor:

Formate disponibile

FINAL CONTROL ELEME

FINAL CONTROL ELEMENT

final control element adjust the

MASON/FINAL CONTROL ELEMENT/2010

ELECTRIC FINAL CONTROL

MASON/FINAL CONTROL ELEMENT/2010

adjust the flow of energy goes into the

MASON/FINAL CONTROL ELEMENT/2010

MASON/FINAL CONTROL ELEMENT/2010

MASON/FINAL CONTROL ELEMENT/2010

Example of Heating elements

MASON/FINAL CONTROL ELEMENT/2010

MASON/FINAL CONTROL ELEMENT/2010

The output of generator voltage is adjusted by

MASON/FINAL CONTROL ELEMENT/2010

No power loss at switch

MASON/FINAL CONTROL ELEMENT/2010

T is period time typical in

Toff is switch off time

Duty Cycle is:

Of course we can not use mechanical switches to carry

MASON/FINAL CONTROL ELEMENT/2010

the coil is energized the core will

MASON/FINAL CONTROL ELEMENT/2010

the coil is energized the core will

MASON/FINAL CONTROL ELEMENT/2010

the coil is energized the core will

MASON/FINAL CONTROL ELEMENT/2010

Open frame solenoid

MASON/FINAL CONTROL ELEMENT/2010

MASON/FINAL CONTROL ELEMENT/2010

MASON/FINAL CONTROL ELEMENT/2010

The top electromagnet (1) is turned

The top electromagnet (1) is turned

The bottom electromagnet (3) is

The left electromagnet (4) is

MASON/FINAL CONTROL ELEMENT/2010

MASON/FINAL CONTROL ELEMENT/2010

MASON/FINAL CONTROL ELEMENT/2010

MASON/FINAL CONTROL ELEMENT/2010

MASON/FINAL CONTROL ELEMENT/2010

MASON/FINAL CONTROL ELEMENT/2010

MASON/FINAL CONTROL ELEMENT/2010

MASON/FINAL CONTROL ELEMENT/2010

MASON/FINAL CONTROL ELEMENT/2010

MASON/FINAL CONTROL ELEMENT/2010

MASON/FINAL CONTROL ELEMENT/2010

MASON/FINAL CONTROL ELEMENT/2010

MASON/FINAL CONTROL ELEMENT/2010

The coil for each poles are

The commutator consist of

MASON/FINAL CONTROL ELEMENT/2010

MASON/FINAL CONTROL ELEMENT/2010

MASON/FINAL CONTROL ELEMENT/2010

MASON/FINAL CONTROL ELEMENT/2010

MASON/FINAL CONTROL ELEMENT/2010

As the rotor is rotating,

The starting current of

MASON/FINAL CONTROL ELEMENT/2010

For big motors the magnet is

MASON/FINAL CONTROL ELEMENT/2010

Field and armature winding are

MASON/FINAL CONTROL ELEMENT/2010