mekatronik programı - egetec.ege.edu.tr/dersler/b5_actuator.pdf · f = p s* f - f f = m * a v f f...
TRANSCRIPT
![Page 1: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/1.jpg)
ROBOT TEKNOLOJISI Ege Üniversitesi Ege MYO
Mekatronik Programı
![Page 2: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/2.jpg)
BÖLÜM 5
Robotlarda Kullanılan
Aktuatörler
(Eyleyiciler)
![Page 3: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/3.jpg)
User
Control Unit
Programming and Supervision
External Sensors
Environment
Sensors Interns
Actuators
Mechanical Structure
![Page 4: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/4.jpg)
ACTUATORS
1 – Pneumatic actuators
3 – Electrical actuators
Cylinders
Dc motors.
Ac motors
Steeper motors.
Motors Cylinders
2 – Hydraulic actuadors
![Page 5: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/5.jpg)
1 – Pneumatic actuators (cylinders) Double effect pneumatic cylinders
F = P S *
![Page 6: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/6.jpg)
F = P S * F - Ff = M a *
V
Ff = k v2 *
a = * P S - k v2 *
M
v a
Speed is not controllable. The cylinder maximum speed is achieved when friction
forces (kv2) equal those that produce the advancing movement (F = P.S), and a = 0.
![Page 7: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/7.jpg)
V
v
- The impact produced when reaching the end of the run
is reduced using a shock absorber.
v v a a
![Page 8: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/8.jpg)
Electrical valve
- Electrical valve: the hydraulic-electrical interface
![Page 9: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/9.jpg)
![Page 10: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/10.jpg)
![Page 11: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/11.jpg)
Distributor
![Page 12: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/12.jpg)
Single effect cylinders
Double effect cylinders
![Page 13: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/13.jpg)
(Lateral guides to prevent axial rotation )
Example of commercial pneumatic cylinders
![Page 14: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/14.jpg)
Oval pistons to prevent the rotation of the axis avoiding
the need of auxiliary guides
![Page 15: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/15.jpg)
l
l 2
Classical cylinders drawbacks: a displacement of length l
requires an additional length l.
![Page 16: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/16.jpg)
l Dl
Solutions to reduce the occupied space
![Page 17: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/17.jpg)
Piston
Cylinder’s sleeve
Shock-absorber adjustment
Movement transmission
Adjusting band
Adjusting band
![Page 18: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/18.jpg)
![Page 19: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/19.jpg)
Pneumatic actuators (cylinders)
- Economic
- Reliable
- High operation speed
- Resistant to overloads
- Operation at constant force
- No speed control
- Poor position speed
- Noisy operation
![Page 20: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/20.jpg)
Example of pneumatic manipulator, and its
mechanical states (End positions of all its cylinders)
![Page 21: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/21.jpg)
ACTUATORS
1 – Pneumatic actuators
3 – Electrical actuators
Motors Cylinders
Dc motors.
Ac motors
Steeper motors.
Motors Cylinders
2 – Hydraulic actuadors
![Page 22: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/22.jpg)
2 – Hydraulic actuators (cylinders)
Energy source: oil pressurized between 20 and 300 bars.
F = P S * If P ^^ F ∞
Dv (cm3) Q (l / min)
Dl (cm)
v (cm/seg.)
- Controllable position
- Controllable speed
![Page 23: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/23.jpg)
B M
P R
Pressure regulator
Electrical valve Control
Pressure
Level
Temperature
Refrigeration
Hydraulic circuit showing its essential elements
![Page 24: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/24.jpg)
At
m.
P
Schema of a pressure regulator
The regulation of the
cylinder retention force
regulates the oil output
producing a pressure
drop.
![Page 25: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/25.jpg)
Control
P R
R A P B R
d
QA
QB
Electrical
valve
Ideal characteristic
d
![Page 26: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/26.jpg)
Control
P R
R A P B R
d
QA
QB
Electrical
valve
d
![Page 27: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/27.jpg)
Control
P R
R A P B R
d
QA
QB
Electrical
valve
d
![Page 28: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/28.jpg)
Control
P R Electrical
valve
R A P B R
Real characteristic
d
QA
QB
d
![Page 29: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/29.jpg)
The use of a position sensor d makes the position servo
control possible and thus hysteresis is minimized. The dead
zone is minimized as well.
Control
P R
Sensor
Servo valve
A
B
Control
Sensor
Set point
Qo QA
d
QB
QA QB
![Page 30: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/30.jpg)
ACTUATORS
1 – Pneumatic actuators
3 – Electrical actuators
Motors Cylinders
Dc motors.
Ac motors
Steeper motors.
Motors Cylinders
2 – Hydraulic actuadors
![Page 31: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/31.jpg)
Hydraulic pumps and motors
( Kind of gears)
Fix caudal
![Page 32: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/32.jpg)
Fix caudal
Hydraulic pumps and motors
( Kind of gears)
![Page 33: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/33.jpg)
Hydraulic pumps
( Kind of radial pistons)
Variable caudal
Cylindrical pumps
![Page 34: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/34.jpg)
e e
Caudal variation as a function of eccentricity e
![Page 35: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/35.jpg)
Hydraulic pumps and motors
( Kind of blades)
![Page 36: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/36.jpg)
Hydraulic pumps or motors
![Page 37: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/37.jpg)
- Economic
- Reliable
- Resistant to overloads
- Able to support heavy loads
Hydraulic actuators
- Low working speed
- Hydraulic group noisy in operation
- Possible oil leakage
![Page 38: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/38.jpg)
ACTUATORS
1 – Pneumatic actuators
2 – Hydraulic actuadors
3 – Electrical actuators
Motors Cylinders
D.C. motors.
A.C. motors
Steeper motors.
Motors Cylinders
![Page 39: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/39.jpg)
D.C. Motors.
Force.
H
I
Motor
F
![Page 40: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/40.jpg)
D.C. Motors.
Brushes
Motor torque
with a one turn
coil
Motor torque
with two turns
coil
Motor torque
with multiple
turns coil
![Page 41: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/41.jpg)
Stator
Casing
Stator
Rotor
Rotor
![Page 42: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/42.jpg)
D.C. Motors.
Stator
Stator
Rotor
Serial excitation Parallel excitation
(Inductor)
(Induced)
![Page 43: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/43.jpg)
T
w
Tr
Stator
Serial excitation
V
V = I· (Re + Rr) + Vcem
I
Vcem = Kv· w
T = KI· I ·FI
wO
V1
D.C. Motors.
v2
wO
,
![Page 44: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/44.jpg)
Permanent magnet dc motor
V
Vcem = Kv· w
Stator
I
wO
Tr
D.C. Motors.
V = I· (Re + Rr) + Vcem
V1
T
w
T = KI· I ·Fo
V2
![Page 45: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/45.jpg)
D.C. Motors.
Control techniques
P W M
![Page 46: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/46.jpg)
A.C. Motors.
50 Hz. 3.000 r.p.m.
50 Hz. = 50 r.p.s x 60 = 3.000 r.p.m.
Triphasic voltage produces a rotator magnetic field that steers the rotor, if it is a magnet
![Page 47: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/47.jpg)
A.C. Motors.
ac
F0 = 50 Hz.
The permanent magnet triphasic motor has a
constant speed. Synchronic motor
![Page 48: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/48.jpg)
A.C. Motors.
Control techniques
ac/dc dc/ac
f The speed of a triphasic motor with permanent magnet
rotor can be controlled by varying the frequency of the
feeding signals.
![Page 49: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/49.jpg)
A.C. Motors.
Control technique: using a dc / ac converter
+ V
0 V
A B
B
A
![Page 50: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/50.jpg)
Electrical Actuators
DC Motors.
AC Motors.
Stepper Motors
Synchronous
Asynchronous
(Induction)
![Page 51: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/51.jpg)
U
W
V
i
U V W
N S
V
U
W
Synchronous A.C. Motor
the rotor is a permanent
magnet
Induction motor
(asynchronous), the rotor is
composed of one or more
windings in short-circuit
![Page 52: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/52.jpg)
Rotor of an asyncronous a.c.
motor (Rotor as squirrel cage)
![Page 53: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/53.jpg)
v2
T
w
wO w1
Tr
V1
w1
f1
B
A f1
D.C. Motor.
Tr
T
w
A.C. Motor. (Synchronous)
![Page 54: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/54.jpg)
Tr
T
w
T
w
wO w1
Tr
V1
w0
D.C. Motor.
U V W
V2
w2
f0 = 50 Hz.
A.C. Motor. (Synchronous)
![Page 55: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/55.jpg)
Stepper Motors
N S N S
N S
S S
S
S
N N
N
N N
N N
S
S S
Control of the position of the rotor in a stepper
motor using multiple pole pairs
![Page 56: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/56.jpg)
N S N S
N S
S N
S
Reduction of the number of pole pairs to a minimum,
groups of three that share the same coils:
Three phases stepper motor
S
N
N
N S
N
N S
S
S N
Stepper Motors
![Page 57: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/57.jpg)
Stepper Motors
Stepper motor control in three phases
N S
N S
S N
S
S
N
N
N S
N
N S
S
S N
N S
N S
S N
S
S
N
N
N S
N
N S
S
S N
![Page 58: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/58.jpg)
Stepper motors.
N S N S N S N S N S N S N S N S N S N
N S N S N S N S N S N S N S N S N S N 0
0
N S N S N S N S N S N S N S N S N S N
S N S N S N S N S N S N S N S N S N S 1
0
N S N S N S N S N S N S N S N S N S N
S N S N S N S N S N S N S N S N S N S 1
1
S N S N S N S N S N S N S N S N S N S 0
1
Control of a two bodies stepper motor of two phases
S N S N S N S N S N S N S N S N S N S
![Page 59: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/59.jpg)
Internal structure of a two bodies stepper motor, of two phases
![Page 60: Mekatronik Programı - Egetec.ege.edu.tr/dersler/B5_Actuator.pdf · F = P S* F - F f = M * a V F f 2= k v* a = * P S * - k v2 M v a Speed is not controllable. The cylinder maximum](https://reader036.vdocuments.net/reader036/viewer/2022063020/5fe21b0c09525f357165dfb6/html5/thumbnails/60.jpg)
Stepper Motors.
Control techniques of a two phases stepper motor