Presentation on

Actuators
Prepared by:
Kaan Ayberk Uum
Neptun Kode:
Q1WG1L

What is an actuator?
Actuators are devices used to produce action or motion.
Input(mainly electrical signal , air, fluids)
Electrical signal can be low power or high power.
Actuators output can be position or rate i. e.
linear displacement or velocity.
Actuation can be from few microns to few meters

Actuator functional diagram

Unmodulate
Energy source

Control
signal

Power
amplification A
& modulation

Energy
conversion
Actuator

Output

ACTUATORS
Electromechanical
Electrical

Machines

Piezoelectric
Hydraulic

Systems

Actuators

Actuators

and Pneumatic Actuation

Electromechanical
1)

Actuators

ElectromagneticsMagnetic Field
- Solenoid Type Devices
- Voice-Coil Motors (VCMs)
- Electric Motors

Electromagnetic is the most widely

utilized method of energy conversion for
electromechanical actuators.

One of the reasons for using magnetic

fields instead of electric fields is the higher
energy density in magnetic fields.

Solenoid

Type Devices

Solenoids,is

the simplest electromagnetic

actuators that are used in linear as well as
rotary actuations for valves, switches, and
relays.
As the name indicates, a solenoid consists
of a stationary iron frame (stator), a coil
(solenoid), and a ferromagnetic plunger
(armature) in the center of the coil

Solenoid:

A solenoid is a coil wound into a tightly packed helix.

A second actuator that is often used is known as a solenoid
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.

Type of solenoids

How a selenoid works?

Voice-Coil

Motors (VCMs)

- As the name indicates, the voice-coil

motor was originally developed for
loudspeakers
-It is now extensively used in moving read/write heads in
hard disk drives
-Since the coil is in motion, VCM is also referred to as a
moving-coil actuator.

How

Does a Voice
Coil Motor Work?

Electric

Motors

Electric motors are the most widely used

electromechanical actuators.

They can either be classified based

on functionality or electromagnetic
characteristics.
The differences in electric motors are mainly in the
rotor design and the method of generating the magnetic
field

How a electric motor work?

Electrical Machines
-The utilization of electric motors as the power source in a
mechatronic application is substantial.
-Electric motors, therefore, often feature as the prime mover in
a variety of driven systems.

Electrical actuator
Electrically actuated system are very widely used in control system
Working Principle of motor
Every motor works on the principle that when a currentcarrying conductor is placed in a magnetic field, it experiences a
mechanical force.
There are three types of motor used in control system

D.C. motor
A.C. motor
Stepper motor

A.C. motor

Stepper motor
A stepper motor is an electromechanical device which converts
electrical pulses into discrete mechanical movements.

Permanent magnet type

Variable reluctance type
Hybrid type

DC MOTORS

Dc

motor

All

conventional electric motors consist of

a stationary element and a rotating
element, which are separated by an air
gap.

In

dc motors, the stationary element

consists of salient poles, which are
constructed of laminated assemblies with
coils wound round them to produce a
magnetic field.

DC Motor
The

interaction between two magnetic

fields produces the movement.

They

are the most used due to:

Facility to control it.

Major power.

Performance.

Price.

very simple form of dc motor is

illustrated in Fig. 20.56.

DC MOTOR
A DC motor or Direct

Current Motor converts

electrical energy into
mechanical energy.
A direct current (DC) motor is a fairly simple

electric motor that uses electricity and a

magnetic fieldto produce torque, which turns
the rotor and hence give mechanical work.

PRINCIPLE OF DC MOTORS
In any electric motor,

operation is based on simple

electromagnetism.
When acurrent-carrying

conductor is placed in an
external magnetic field, it
will experience a force i.e.
Lorentz force.
Due to this force torque is

produced which rotates the

rotor of motor and hence a
motor runs.

WORKING OF DC MOTORS

TYPES OF DC MOTORS
DC motor are of 3 types they

are..
1. DC SHUNT MOTOR
2. DC SERIES MOTOR
3. DC COMPOUND

MOTOR

1.

DC SHUNT MOTOR

The parallel combination of

two windings is connected

across a common dc power
supply.
The resistance of shunt field
winding (Rsh) is always
higher than that is armature
winding.
This is because the number
of turns for the field winding
is more than that of
armature winding.
The cross-sectional area of
the wire used for field

Armatur
e

2.

DC SERIES MOTOR

The field winding is

connected in series with the

armature.
The current passing through
the series winding is same
as the armature current .
Therefore the series field
winding has fewer turns of
thick wire than the shunt
field winding.
Also therefore the field
winding will posses a low
resistance then the armature
winding.

3.

DC COMPOUND MOTOR

I.

LONG SHUNT COMPOUND MOTOR

In this the series winding

is connected in series
with the armature
winding and the shunt
winding is connected in
parallel with the
armature connection.

II. SHORT SHUNT COMPUND MOTOR

In short shunt compound

motor the series winding

is connected in series to
the parallel combination of
armature and the shunt
winding
This is done to get good
starting torque and
constant speed
characteristics.

a) CUMULATIVE COMPOUND DC
MOTORS
If the two field windings i.e. series

and shunt are wounded in such a

way that the fluxes produced by
them add or assist each other

b) DIFFERENTIAL COMPOUND DC
MOTORS
If the two field winding
i.e. series
and shunt are wounded in such a
way that the fluxes produced by
them always try to oppose and try
to cancel each other.

APPLICATIONS OF DC MOTORS
MOTORS..

D.C. SHUNT MOTOR

D.C. SERIES MOTOR

D.C. COMPOUND MOTOR

APPLICATIONS
LATHES , FANS, PUMPS DISC
AND BAND SAW DRIVE
REQUIRING MODERATE
TORQUES.

ELECTRIC TRACTION, HIGH

SPEED TOOLS

ROLLING MILLS AND OTHER

LOADS REQUIRING LARGE
MOMENTARY TORQUES.

AC Motor
Asynchronous Motors

Synchronous Motors

Synchronous Motors
Synchronous motors are so called because

they operate at only one speed, i.e., the

speed of a rotating magnetic field.

Servomotors
Conformed by:
Motor.
Reducing box.
Control circuit.

Great precision.

Servomotors
Similar to a direct current motor, with the

aptitude to be located in any position inside a

range of operation and to be kept stable in
the mentioned position.
It is frequently used in radiocontrol systems

and robotics.
Its use is not limited to these.

Stepper Motors.
Electromagnetic device that converts a series

of electric pulses into discrete angular

displacements.
It advances a series of degrees (steps)

depending on its imputs.

Piezoelectric
Actuators

Piezoelectric actuators
Pierre and Jacques Curie discovered the piezoelectric effect in
1880.
The application of an electric field to a piezoelectric crystal leads
to a
physical deformation of the crystal.
Piezoelectric materials are: Quartz, Ceramics, PZT(lead
zirconate
short response time.
titanade).
An ability to create high forces.
Advantages
A high efficiency and a high mechanical durability.
Disadvantage
Have small strains. (0.1-.2%)
High supply voltage needed.(60-1000V)
Large hysteresis.(actuator doesnt go back to exactly
where it started).

Configuration
A piezo ceramic crystal is coated with silver on both sides.
Glued to a brass, nickel alloy, or stainless steel disk.
Brass:
Commercial & industrial use.(not subjected to environment )
Nickel alloy:
Use where it subjected to environment.
Stainless steel:
Uses where it subjected to solvent, corrosive chemical,
Underwater .
Medical fields.

Types of piezoelectric actuators

Piezoelectric Stack Actuators
Produce linear motion.

Linear motor

Piezoelectric bender actuator

Piezomotors (Ultrasonic
Motors)
Vibromotors find wider and wider

application as actuators based on the

conversion of high frequency mechanical
oscillations (dozens of kHz) into continuous
motion.

Advantages of piezomotors
large torque,
high resolution,
excellent controllability,
small time constant,
compactness,
high efficiency,
silent operation,
no electromagnetic induction.

Hydraulic and Pneumatic

Actuation Systems

The primary function of an actuation

system is to influence the controlled

system so as to obtain the desired
movement or action.
This objective is made possible by the

actuation system, which converts the

primary energy with which the actuator
operates into the final mechanical energy.

Fluid Actuation Systems

An actuation system, which is part of an

automatic machine, consists of a power

part and a control part as illustrated in Fig.
20.86.
The power part comprises all the devices
for effecting the movements or actions.

Figure 20.87 illustrates a fluid actuation

system. The power part consists of the

actuatora doubleacting cylinder in the
case in the figurethe front and rear
chambers of which are fed by a 4/2
distributor valve, which constitutes the fluid
power adjustment interface.

Hydraulic actuator:
Hydraulic systems are used to control & transmit power.
A pump driven by prime mover (electric motor) creates flow of fluid

Types of hydraulic actuator

Linear actuator (hydraulic cylinder)Provides motion in straight line.
Linear displacement depends on stroke length.
Usually referred to as cylinders, rams (single acting cylinders)
or jacks.
Rotary actuators (Hydraulic motors)Produces continuous rotational motion.
Pump shaft is rotated to generate flow.
A motor shaft is caused to rotate by fluid being forced into the
driving chambers.

Semi rotary actuatorsProduces non-continuous rotational motion.

Limited to less than one revolution (<360).
Used to produce oscillatory motions in mechanisms.

Applications
Hydraulic jack.
Hydraulic brake.
Hydraulic ram.
Used as sensor.
Close loop velocity controlling.
Highly precise positioning for heavy loads.

Hydraulic Actuation
Systems
The components of a hydraulic actuation system are
the pump, that is, the hydraulic power generation

system;
the actuator, that is, the element which converts
hydraulic power into mechanical power;
the valve, that is, the hydraulic power regulator;
the pipes for connecting the various components of the
actuation system;
the filters, accumulators, and reservoirs;
the fluid, which transfers the power between the various
circuit elements;
the sensors and transducers;
the system display, measurement, and control devices.

Pumps
Pumps transform electrical or mechanical

energy into hydraulic energy.

They constitute the fluid flow generator of
the hydraulic system, as the pressure is
determined by the fluid resistance
downstream from the generator.
The main types of pumps are shown in Fig.
20.90.

Gear Pumps
Gear pumps are subdivided into pumps

with external gears, pumps with internal

gears, and screw pumps.
Rotary Vane Pumps
Vane pumps (Fig. 20.93) generally consist
of a stator and a rotor, which can rotate
eccentrically with respect to one another.
Vanes can move in special slits placed
radially in the stator or in the rotor and
delimit appropriate variable volumes.

Piston Pumps
Volumetric piston pumps can have one or

more cylinders; that is, there may be one or

more cylinders with a piston sliding in each
of them.

Valves
Valves are the components in hydraulic

circuits that carry out the task of regulating

the hydraulic power sent to the actuator.
They are subdivided as follows on the basis
of the operations they carry out:
directional valves
on-off valves
pressure regulator valves
flow-rate regulator valves

Animation How basic hydraulic

circuit works

Pneumatic actuator
It convert energy formed by compressed air at high pressure
into ether linear or rotary motion.
Quickly respond in operation.

CONSTRUCTIONAL FEATURES OF CYLINDER

Pneumatic Actuation
Systems
Just as described for the hydraulic system, the

components of a pneumatic actuation system

are:
the valve, that is, the regulator of the
pneumatic power;
the actuator, which converts the pneumatic
power into mechanical power;
the piping;
the sensors and transducers;
the system display, physical magnitude
measurement, and control devices.

Compressors
The types of compressors used to produce

compressed air are summarized in Fig.

20.113. In volumetric compressors, the air
or gas is sucked in by means of a valve in
the compression chamber where its volume
is reduced to cause compression of the gas.

They can be single and double acting, with

one or more pistons and one or more

stages (Fig. 20.114).

Pneumatic Valves
Pneumatic valves are functionally similar to

those used in hydraulic systems, so that

reference should be made to the general
considerations described above.
-PWM (Pulse Width Modulation) Valves
-Proportional Pressure Regulator
Valves

ACTUATORS - COMPARISON
Actuator types

Advantages

Disadvantages

Electrical(servomotor or
stepping motor)

Direct interface with

computer system. Simple
design.

Low thrust.
Slow speed.
No mechanical fail safe
hazardous.

Electromechanical(Moto
rs combined with gear
boxes)

High thrust
High stiffness coefficient
Flexible adaptation

Complex design
No mechanical fail safe
Large, heavy structure
Hazardous

Hydraulic and Electro

hydraulic

High thrust
Fast speed
High stiffness coefficient
Self lubrication

Complex design
Large, heavy structure
Hazardous
Fluid Viscosity Sensitive

Pneumatic and Electropneumatic

Low cost
Mechanical Fail safe
Simple design
Small package
Suitable for highly hazardous
areas also
Good control with control
device

Slow speed
Lack of stiffness
Instability
Moderate trust
Quality air requirement