ARUSHA TECHNICAL COLLEGE

AUTOMATION
EET 06102
 ACTUATORS

• At the end of the lesson you should be able to

describe

(i) Actuators

(ii) Hydraulic actuators

(iii) Pneumatic actuators

(iv) Electrical actuators

 ACTUATOR

• Is a component of a machine that is

responsible for moving or controlling a
mechanism or system, for example by
actuating (opening or closing) a valve in
simple terms, it is a "mover“
• It is operated by a source of energy, typically
electric current, hydraulic fluid pressure or
pneumatic pressure and converts that energy
into motion.

• An actuator is something that converts energy

into motion. It also can be used to apply a
force.
An actuator typically is a mechanical device that
takes energy — usually energy that is created by
air, electricity or liquid — and converts it into
some kind of motion. Actuators typically are
used in manufacturing or industrial applications
and might be used in devices such as motors,
pumps, switches and valves.
 ENERGY SOURCE

The most common type of actuator is powered

by air and is called a pneumatic cylinder or air
cylinder. This type of actuator is an air-tight
cylinder, typically made from metal, that uses
the stored energy of compressed air to move a
piston when the air is released or uncompressed
These actuators are most commonly used in
manufacturing and assembly processes.
Grippers, which are used in robotics, use
actuators that are driven by compressed air to
work much like human fingers.
• An actuator also can be powered by electricity
or hydraulics.

• Much like there are air cylinders, there also

are electric cylinders and hydraulic cylinders in
which the cylinder converts electricity or
hydraulics into motion
• Many actuators have more than one type of
power source. Solenoid valves, for example,
can be powered by both air and electricity.
Alternatively, a solenoid can be powered by
both hydraulics and electricity.
 PNEUMATIC ACTUATORS

Pneumatic actuators are the devices used for

converting pressure energy of compressed air
into the mechanical energy to perform useful
work.
The actuator often translates a control signal
into a large force or torque as required to
manipulate some control element.
The pneumatic actuator is most useful for such
translation. The principle is based on the concept of
pressure as force per unit area. Pneumatic actuator
working principle is that the pressure difference
between cavities causes the movement of a rod.

• pressure into either linear or rotary motion

• That means converting kinetic energy and

potential energy into mechanical energy.
If we imagine that a net pressure difference is
applied to a diaphragm of surface area A, then
the net force on the diaphragm given by:

F = (P1 - P2) A

• Where: P1-P2 = pressure difference (Pa)

A = diaphragm area (m2)

F = force (N)
• If we need to double the available force for a
given pressure, it is necessary to double the
diaphragm area.
• Very large forces can be developed by
standard signal pressure ranges 3-15psi.
• Many types of pneumatic actuators are
available, but perhaps the most common are
those associated with control valves.
The action of a direct pneumatic actuator is
shown in figure.
High pressure state
 DIRECT PNEUMATIC ACTUATOR

In low signal pressure state, the spring S

maintains the diaphragm and connected control
shaft in a position as shown in figure.

• The pressure on the opposite (spring) side of

the diaphragm is maintained at atmospheric
pressure by the hole H
Increasing the control pressure (gauge pressure)
applies a force on the diaphragm, this action
forces diaphragm and connected shaft down
against the spring force.

• Note that, the pressure and force are linearly

related, and that the compression of a spring

is linearly related to forces.
PRESSURE SWITCH
Pressure switches are control devices that
respond to changes in pressure of liquid or air.
The liquid of air is referred to as fluid pressure.
• They open or close electrical contacts in
response to pressure changes. By either
turning on or off a motor, opening or closing
louvers, or warning light or horn
• For loads up to 5 HP the pressure switches
may handle the current directly.

• For larger loads the pressure switch is used to

energize relays, contactors, or motor starters,
which then energize the load.

• The basic components of a pressure switch are

illustrated in the figure.

• Electrical contacts are operated by the
movement of a diaphragm against the force of
a spring.
• The contacts may be normally open (NO) or
normally closed (NC).
• The spring setting determines how much fluid
pressure is required to operate the contacts.
Pressure switch
• Pressure switches are frequently used to
maintain a specified pressure range in a
storage tank.

• Storage tanks can be used to hold a liquid,

such as water, or a gas, such as air.
ILUSTRATION
• In this example a normally closed pressure
switch is used. The pump starts as soon as
power is applied to the circuit.

• When the pressure in the storage tank has

reached a predetermined level, the contacts in
the pressure switch open and removing power
from the pump motor.
As contents of the storage tank are used, the
pressure in the tank decreases. At a
predetermined level the pressure switch will
close its contacts, applying power to the pump
motor.
PRESSURE CONTROL RESPONSE
APPLICATION
• Air brakes on buses and trucks
• Exercise machines can be built on pneumatic
systems. .
• Compressed-air engines,
• Pressure regulators
• Pressure sensors are used to measure the
pressure of gases or liquids.
 HYDRAULIC ACTUATOR
Hydraulic actuators work by using hydraulic
pressure to perform an operation of an output
member. These actuators are typically important
for performance that involves greater force and
high speed.
• The pressure can be readily transferred to the
member due to the usage of a highly
incompressible fluid in the hydraulic actuator.
It works based on Pascal’s law. This law states
that the pressure can be transferred to a
confined fluid in every direction. States,
pressure change occurring anywhere in a
confined incompressible fluid is transmitted
throughout the fluid such that the same change
occurs everywhere. The law was established by
French mathematician Blaise Pascal
• In some cases where very large forces are
required, the area of a required pneumatic
diaphragm for the standard control signals may
be too large for practical consideration.
• In such cases, hydraulic actuator may be
employed.
• The basic principle is shown in the following
figure.
The basic idea is the same as pneumatic actuator
except that an incompressible fluid is used to
provide the pressure like oil. The hydraulic pressure
is given by:
PH= F1/A1
• Where PH = hydraulic pressure (Pa)
• F1 = applied piston force (N) ; A1 = forcing piston
area (m2)
• The resulting force on the working piston is
Fw = PH A2
• Where Fw = Force of working piston (N)
A2 = working piston area (m2)
Thus, the working force is given in terms of the
applied force by
Fw = (A2/A1) F1
HYDRAULIC ACTUATOR
Figure
In a hydraulic system a pressure exerted on a
piston produces an equal increase in pressure
on another piston in the system. If the second
piston has an area 10 times that of the first, the
force on the second piston is 10 times greater,
though the pressure is the same as that on the
first piston.
This effect is exemplified by the hydraulic press,
based on Pascal’s principle, which is used in such
applications as hydraulic brakes.
 Components of hydraulic actuator

• A hydraulic actuator comprises the following components:

• Hydraulic fluid
• Reservoir
• Filter
• Line
• Fittings and seals
• Hydraulic pumps
• Hydrostatic or positive displacement pumps
• Motors
• Accumulators
• Cylinders
 Uses

Hydraulic cylinders are mostly used in the following

applications:
• Road machines
• Digging
• Building
• Automobiles
• Processing equipment such as forge pressing
machines, and metal-cutting machine tools.
 MECHANICAL ACTUATOR
Mechanical linear actuators typically operate by
conversion of rotary motion into linear motion.

Types:

• Screw

• Wheel and axle

• Cam
 ELECTRICAL ACTUATOR
Electrically actuated system are very widely used in
control system
RELAY
Electrical switch that uses an electromagnet to
move the switch from the off to on position instead
of a person moving the switch. It takes a
relatively small amount of power to turn on a relay
but the relay can control something that draws
much more power.
Relays are classified into several types based on
their functionality and application they are
implemented for. These classifications include
electromagnetic, solid state, high voltage,
thermal relays, and so on
MOTORS

Working Principle of motor

Every motor works on the principle that when a

current-carrying conductor is placed in a
magnetic field, it experiences a mechanical
force.
DC MOTOR
A DC motor is any of a class of rotary electrical
machines that converts direct current electrical
energy into mechanical energy. The most common
types rely on the forces produced by magnetic
fields. Nearly all types of DC motors have some
internal mechanism, either electromechanical or
electronic, to periodically change the direction of
current flow in part of the motor.
DC MOTOR
A DC motor is any of a class of rotary electrical
machines that converts direct current electrical
energy into mechanical energy. The most common
types rely on the forces produced by magnetic
fields. Nearly all types of DC motors have some
internal mechanism, either electromechanical or
electronic, to periodically change the direction of
current flow in part of the motor.
DC MOTOR
STEPPER MOTOR
A stepper motor is an electromechanical device
which converts electrical pulses into discrete
mechanical movements.
SOLENOID VALVE

A solenoid is a coil wound into a tightly packed

helix. In physics, the term solenoid refers to a
long, thin loop of wire, and wrapped around a
metallic core which produces a magnetic field
when an electric current is passed through it.
A solenoid valve is an electromechanically
operated valve. The valve is controlled by an
electric current through a solenoid: in the case
of a two-port valve the flow is switched on or
off; in the case of a three-port valve, the outflow
is switched between the two outlet ports.
Multiple solenoid valves can be placed together
on a manifold.
 FLUID VALVES

• The chemical and petroleum industries have

many applications requiring control of fluid

processes.

• Many other industries also depend in part on

operations that involve fluid and regulation of
fluid parameters.
• A regulation of flow rate emerges as the
regulatory parameter for reaction rate,
temperature, composition, or a host of other
fluid properties
• Flow rate in process control is usually
expressed as volume per unit time.

• If a mass flow rate is desired, it can be

calculated from the particular fluid density.

• If a given fluid is delivered through a pipe,

then the volume flow rate is

Q=Av
• Where

Q = flow rate (m3/s)

A = pipe area (m2)

V = flow velocity (m/s)

• A control valve regulates the flow rate in a

fluid delivery system.
• In general, a close relation exists between the
pressure along a pipe and its flow rate so that
if the pressure is changed, then the flow rate
is also changed.
• A control valve changes flow rate by changing
the pressure in a flow system because it
introduces a constriction in the delivery
system as shown in figure.
Flow across restriction in a pipe
• We can show that the flow rate through the
constriction is given by
Control valves are classified by the relationship
between the valve stem position and the flow
rate through the valve. In the following figure, a
typical control valve using a pneumatic actuator
attached to derive the stem and, hence open or
close the valve.
Figure
 Basic types of control valves.

There are three basic types of control valves:

• 1- Quick opening. This type of valve is used

predominantly for fill ON/full OFF control
applications. Such a valve, for example, may
allow 90% of maximum flow rate with only a
30 % travel of the stem.
• 2- Linear valve. This type of valve, has a flow
rate that varies linearly with the stem
position. It represents the ideal situation
where the valve alone determines the
pressure drop. The relationship is:

Q = Qmax (S/Smax)
• Where

Q = flow rate (m3/s) ;

Qmax = maximum flow rate (m3/s)

S = stem position (m)

Smax = maximum stem position (m).

• 3-Equal percentage valve. A very important
type of valve employed in flow control has a
characteristic such that a given percentage
change in stem position produces an
equivalent change in flow, that is, an equal
percentage.
• Generally, this type of valve does not shut off
the flow completely in its limit of stem travel.
• Thus, Qmin represents the minimum flow
when the stem is at one limit of its travel.
• At the other extreme, the valve allows a flow
Qmax as its maximum, open valve, flow rate.
For this type, we define the rangeability R as
the ratio
Control valve characteristics
 QUESTIONS

• 1. Find the working force and the hydraulic

pressure resulting from 20N applied to a 1cm
radius forcing piston if the working piston has a
radius of 6cm.
• 2. Suppose a force of 400N must be applied to
open a valve. Find the diaphragm area if a control
gauge pressure of 70kpa must provide this force.
• 3. An equal percentage valve has a maximum
flow of 50m3/s and minimum of 2m3/s. If the full
travel is 3cm, find the flow at 1cm opening.