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Actuators
Hardware devices that convert a controller command signal into a
change in a physical parameter
The change is usually mechanical (e.g., position or velocity)
An actuator is also a transducer because it changes one type of
physical quantity into some alternative form
An actuator is usually activated by a low-level command signal, so
Actuators
Mechanism
Logical
Signal
Signal
Processing
&
Amplification
Electric
Hydraulic
Pneumatic
Actuator
Sensor
Final Actuation
Element
Control code
Mechanical
Command signal
Sensing signal
Microprocessor
Sensors
or
Microcontroller
Actuator
Actuation
Parameter, variables
Plant
(Robot, AGV, NCM, Consumer products, Conveyor systems, Assembly
system, Cranes, Defense equipments, Air craft engines, etc)
Classification of Actuators
1. Electro-mechanical
2. Fluid-power
3. Active material based
Electro-mechanical actuators:
Switches
Solenoid type
Drive systems
DC motor
AC motor
Stepper motor
Hydraulic
Pneumatic
Piezoelectric
Magnetostrictive
Shape-memory alloys
Selection parameters
Hydraulic
DC motor
Pneumatic
Electrical
AC
Hydraulic
Stepper motor
Volume
Power
Electrical
Stepper motor
DC motor
Hydraulic
Power
Speed / pulse
Solenoid Actuator
Solenoid is an electromagnetic device, that works by the
magnetization of a coil, which operates a soft iron core.
A solenoid consists of a coil and a movable iron core called
armature.
Movable
armature core
Coil
Spring
a) Plunger type
Movable
armature core
Spring
Coil
Movable
armature core
Coil
Spring
2 2
1N I
F=
2
2 x
A 0
Limitations
Advantages
Very strong
Very fast
Very customizable to specifications
Several Manufacturers
Great for high power short bursts
Relay
An electromechanical relay is used to make or break mechanical
contact between electrical leads.
Moveable Contact
Moveable Armature
Stationary Contact
Spring
Electromagnet
Power Supply
Load
Moveable Armature
Moveable Contact
Stationary Contact
Spring
Electromagnet
To Control Circuit
Advantages of Relays
The complete electrical isolation improves safety by ensuring that high voltages
and
Come in all shapes and sizes for different applications and they have various
switch contact configurations.
Easy to tell when a relay is operating - you can hear a click as the relay switches on and
off and you can sometimes see the contacts moving.
Disadvantages of Relays
Their parts can wear out as the switch contacts become dirty - high voltages and currents
They cannot be switched on and off at high speeds because they have a slow response
and the switch contacts will rapidly wear out due to the sparking.
The back-emf created when the relay coil switches off can damage the components that
a-
A+
A-
b-
a+
B+
B-
C+
Relay contact 1
START / STOP
Relay contact 2
Relay 2
c+
b+
Relay 1
C-
DC motor
Converts electrical energy in to mechanical energy.
Conductor placed in a magnetic field, current is passed
DC Motors
DC Motor:
F
B
DC motor basics
Field pole
Armature
Armature
conductors
DC motor
Armature
S
Rotor
S
F
Figure 2) Armature
F B iL
For N such conductors,
F NB i L
F NB i L
Torque (T) about coil axis,
T K ( N B i L )b
K Proportionality constant
T Kt i
Kt Torque constant
(1)
Vb
Vb K b
Kb Torque constant
T Kt i
(1)
Vb
Vb K b
Neglecting inductance of an armature coil, current through the resistor is,
V - Vb
i
R
V - K b
(2)
Torque (T)
Kt
T
(V - K b )
R
Rotational speed ()
Figure 4) Torque speed characteristics of a dc motor
Servo principle :
DC servomotor
Va
Set speed
Vf
Tacho-generator
Na set speed
Va Reference signal
Vf Feedback signal
V Applied voltage
Servo principle :
Va
DC servomotor
Set speed
Vf
At time
Tacho-generator
t = 0,
At time
V Va
t = t 1,
V Va - Vf
If Vf > Va
V is negative
V is positive
Stepper Motor
A stepper motor is an electromechanical device which converts
proper sequence.
Step motors are different from all other types of electrical drives in
the sense that they operate on discrete control pulses received and
Specifications
Phase: Number of independent windings on the stator.
Step Angle: Angle through which the rotor rotates for one
switching change for the stator coils
Rotor
(Permanent magnet)
Winding A is split into two halves A1 and A2. They are excited by
Permanent magnet
AC motor
Classification of a AC motor:
Single phase
1. Induction
Poly phase
2. Synchronous
Rotor
Pole
Pole
Stator
Stator
N
Classification:
Pneumatic Actuators
Hydraulic Actuators
Power supply:
Accumulator
Motor
Pressure relief
valve
Control valve
P
A
Pump
E
Filter
Oil
Sump
Cylinder
Power supply:
Air receiver
Motor
Pressure relief
valve
Cooler
Control valve
Compressor
Filter &
Water trap
Filter
To atmosphere
Air inlet
Cylinder
Pneumatic
Compressed air
Pump
Air compressor
Less force
Self lubricating
Compressible
Costs less
Selection criteria
1. Force
2. Speed
3. Size
4. Type of motion
5. Service life
6. Sensitivity
7. Safety & reliability
8. Controllability
9. Handling & storage
10.Energy costs
Signal flow
Actuating devices
Final control element
Processing elements
System symbols
System symbols
Filter
Water separator
Lubricator
2(A)
1(P)
3(R)
Pressure regulator
Air service unit
System symbols
Simplified symbol
System symbols
Control Valves
1)
4)
2)
3)
5)
2(A)
1(P)
6)
7)
System symbols
P
4(A)
Pressure port
R , S Exhaust port
2(B)
A , B Outlet ports
1(P)
5(S)
3(R)
2(B)
Pressure port
R , S Exhaust port
A , B Outlet ports
1(P)
5(S)
3(R)
Manual
Push button
Foot paddle
operated
Roller operated
Solenoid operated
Lever operated
Spring return
Double Solenoid
operated
Sequence valve
Actuators
Single acting cylinder with spring return
2(A)
3(R)
1(P)
4(A)
2(B)
2
1(P)
3(R)
Valves
Device for closing or opening the passage through a pipe in
order to stop, allow or control the flow of a fluid
Act as a control element to control flow of fluid in the chamber
of cylinder
Classified based on how they work
Normally closed & normally open valves
2-way, 3-way & 4-way valves
2 way Valves
2 ports
1 inlet & 1 outlet
3 way Valves
3 ports
1 inlet , 1 outlet & exhaust
4 way Valves
4 ports
1 inlet , 2 outlet & exhaust
5 way Valves
5 ports
1 inlet , 2 outlet & 2 exhaust
2(A)
1
1(P)
3(R)
2. Poppet valve
Solenoid
Port 1
Port 3
Port 2
Air supply
Port 1
Solenoid
Port 3
(not energized)
Vent to atmosphere
Port 2
Poppet valve
2(A)
1(P)
Poppet valve
2(A)
1(P)
Symbol
No flow
1(P)
2(B)
3(R)
2(A)
3(R)
A
Fig 2) Symbol
(Normally open)
Poppet valve
Diaphragm
Main spring
Body
Adjustable screw
Spring
Adjustable support
Working:
- Inlet pressure > Spring pressure
- Built-in spring closes the valve
1 (P)
Fig 2) Symbol
Cylinder 1
1
A
P
T
B
2 (A)
Working principle:
- Inlet pressure > Spring pressure
- Built-in spring closes the valve
Lift system
Pressure supply
UP
Vent
Vent
DOWN
Load
Cylinder Sequencing
Limit switches
a-
Cylinder A
4(A)
5(S)
Start
2(A)
1(P)
a+
b+
b-
Cylinder A
b+
4(A) 2(B)
3(R)
1(P)
b-
2(B)
Limit switches
3(R)
1(P)
5(S)
a+
a-
3(R)
THYRISTOR
or
SILICON CONTROLLED RECTIFIERS
THYRISTOR
A
P
N
J1
J2
P
VG
N
C
Fig 1 a) SCR
VD
GATE
J3
C
b) Symbol
THYRISTOR
SCR current
Forward conduction
Reverse
breakdown
voltage
Forward Breakdown
voltage
Gate
voltage
A
P
N
J1
J2
P
VG
N
C
VD
J3
APPLICATION
THYRISTOR
V
Gate pulses
Average DC voltage
TRIAC
TRIAC
G2
T2
T2
T1
GATE
G1
T1
b) Symbol
TRIAC
T2 (+ve)
VBR
VBR
V
h
T1 (+ve)