Chapter 4: Electrical
actuator systems
Eng. Musa Mahdi
Introduction
So far, we have concentrated on electronic components, sensors and
related signal processing methods which on their own, cannot produce
mechanical actions or motion. While a sensor is a device that can convert
mechanical energy to electrical energy.
Actuators are the devices which are used to produce motion or action,
such as linear motion or angular motion.
Some of the important actuators used in mechatronic systems are
solenoids, electric motors, hydraulic pumps, and hydraulic cylinders and
pneumatic cylinders.
Solenoids
One of the more common practical applications of the moving-iron
transducer in which the movable part is connected to springs to return it.
Solenoids find application in a variety of electrically controlled valves.
Relays
Another electromechanical device that finds common industrial practical
applications is the relay.
The relay is essentially an electromechanical switch that permits the opening
and closing of electrical contacts by means of an electromagnetic structure
Direct current motors
The direct current (d.c.) motor is the simplest of the motors.
A d.c motor has two terminals, and when d.c. flows in one terminal (the
other being grounded), the motor spins in one direction. When current
flows in the other terminal (and the first is grounded), the motor spins in
the opposite direction.
The motor’s speed is controlled by varying the current supplied.
Direct current motors
Direct current motors can be classified into four groups :
1. Separately excited machines: The field winding is composed of a large
number of turns with small cross section wire. This type of field winding is
designed to withstand the rated voltage of the motor. The field and
armature circuits are excited by separate sources.
2. Shunt machine: The field circuit is the same as that for separately excited
machines, but the field winding is connected in parallel with the armature
circuit. A common source is used for the field and armature windings.
3. Series machines: The field winding is composed of a small number of turns
with a large cross section wire. This type is designed to carry large currents
and is connected in series with the armature winding.
4. Compound machines: This type uses the shunt and series windings.
The servo motor
Servo motors are a variation on the gear-head motor coupled with a
potentiometer to give feedback on the motor’s position. The gears of the
gearbox on a servo are attached to a potentiometer inside the case.
Hobby servos, the kind most often used in small physical computing
projects, usually take a pulse of between 1–2 ms every 18–20 ms. This type
of servo, rotates from 0 to 180 degrees depending on the pulse width.
The stepper motor
Stepper motors are different to regular d.c. motors in that they don’t turn
continuously, but move in a series of steps.
A stepper motor is a motor controlled by a series of electromagnetic coils.
The center shaft has a series of magnets mounted on it, and the coils
surrounding the shaft are alternately given current or not, creating
magnetic fields which repulse or attract the magnets on the shaft, causing
the motor to rotate.
The stepper motor
The stepper motor
Stepper motors are used in printers, disk drives, and other devices where
precise positioning of the motor is necessary. Steppers usually move much
slower than d.c. motors
The advantages of stepper motors are:
speed does not depend on the torque applied on the axis.
controls are more simple.
great speed range available.
Motor selection
Torque:
For optimum operation, the motor must supply sufficient torque, Tm, to overcome
the load friction and to accelerate over a distance, s, in time .
Power:
Total power, P, is the sum of the power to overcome friction Pc and the power to
accelerate the load PL.
Cost:
Price can vary by a factor of three or more over this torque range. Yet, by going
to a larger motor with a lower strength magnet the same torque can be
achieved at little or no increase in cost.
Assignment 4
What is actuator?
Briefly describe the working principle of the following with drawing if there is:
Solenoid
Relay
Stepper motor
What are the criteria to select the motor?
Any Questions ?!
By: Eng. Musa Mahdi
Tele: 770076600