Académique Documents
Professionnel Documents
Culture Documents
• Motores DC
• Motores AC
• Motores Linear
• Motores de passo
Motores DC
• Atuadores rotativos
• Power range: Fractions of watts
to 100s of Kw.
• Pode ser alimentado por:
– fontes de alimentação,
– Baterias
– Geradores
T KT ia
Raia
Va Vb M
W Raia Vb Va
Raia Kb W Va
Voltagem gerada pelo
retorna FEM
movimento da
Constante
armadura no campo
(como um Gerador)
Motores DC : Leis Básicas III
Torque e velocidade
T KT ia
Velocidade
sem carga
W
Raia Kb W Va
Ra 1
W T Va
Kb Kb T
Stall Torque
Motores DC :
Comportamento I
Equations of Motion:
Torque Drives a Load
Va Kb
T W
B Ra Ra
W
+
T J dW
TJ BW
dt
dW Kb Va
J B W
dt Ra Ra
Motores DC :
Comportamento II
dW Kb Va 1
J B W 0.9
dt Ra Ra 0.8
0.7
0.6
Output
0.5
0.4
0.3
0.2
dW 1 0.1
W U (t ) 0
0 0.5 1 1.5 2 2.5
Time (s)
3 3.5 4 4.5 5
dt T
Servo Motores DC
Sample
Period Output is average
over sample period
Pulse-Rate-Modulated (PRM)
Output
Voltage
Constant pulse Output is average
length Over all periods
Principais características de
um Motor DC
~ V M
W
• High power high torque
applications
• Brushless, durable, easy to
maintain
• Now fully digital vector
controlled
AC-MOTORS: Main Features
• Large Cranes or
material handling
systems
• Belts or conveyors
• High Speed Trains
• Electric Drive Haul
Trucks (930E)
Linear Motors:
A Brief Introduction
• General Operating
principles:
– Fluid is compressed
by pump on which
mechanical work is
done
– Fluid does work in
motor producing
mechanical power
• Two Types:
– Vane/gear pumps
– Piston/swash-plate
Gear and Vane Actuators
Force/
Stroke
Direction, Proportional
Machine Hydraulic Pressure,Flow directional valve,
actuator Pressure/flow
control valve
Position Sensor
Fully Integrated
Control Valve
Selenoid
Controller
Flow ports
Digital Flow Control
Integrated Valve
Integrated Manifold
Fully Digital
Controller
Electro-hydraulic System Example
When to use Hydraulics
• Heavy Plant
– Steel press
– Large-scale precision motion
tables
• Mobile Systems
– Steering, brakes
– Propulsion and transmission
• Aerospace
– Aerolon actuation in aircraft
– Fin actuation in missiles/rockets
Pneumatic Systems
Oscillating actuator
(Rack and pinion type) Air motors
(multi-stroke radial piston type)
Modern Pneumatic Systems
Dual
check
valves
Linear drive
Angular Toggle
Servovalve Gripper
Twin cylinder piston
offers closed vacuum pump or
loop control of compressor 250 W
acceleration, motor developing
velocity, 2.8 bar with flow to
positioning and 8.7 m3/hr
force
When to use Pneumatics
• Manufacturing
– Robot grippers
– Movement of parts
– Assembly operations
• Medical Systems
– Drills/cutting tools
– Suction and clamping
• Robotics
– Animatronics
– Grippers
– Subsea
FUTURE ACTUATORS...
http://www.piezo.com/bendedu.html
Piezo Nano Motors
• SMA=TiNi alloy
• Height 160mm
• Weight 0.06kg
• Changes shape on
(electric) heating
And finally….MEMs