Chapter 1 - Introduction To Actuators & Drives (Lecture 1) PDF

1
LEARNING OUTCOME
By the end of this chapter, students will be able to explain model,

types, architecture & operations related to actuators and drives
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BETI 3423 ACTUATORS & DRIVES
FAKULTI TEKNOLOGI KEJURUTERAAN
UNIVERSITI TEKNIKAL MALAYSIA MELAKA
CHAPTER CONTENTS
Actuators
Types of actuators
Electrical actuators
Pneumatic actuators
Hydraulic actuators
Mechanical actuators
Drives
Types of drives
Electrical drives
Mechanical drives
Pneumatic & Hydraulic drives
Software drive
Power Electronic drives
INTRODUCTION
What is actuators
A device that creates mechanical motion by converting various forms of
energy to mechanical energy.

A device for moving or controlling something
What is mechanical energy

Is the sum of potential energy and kinetic energy present in the
components of a mechanical system
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INTRODUCTION
The essential components in a
controlled automated system:
Actuator
do the work
Controller
"tells" the actuator to do
work
Sensor
provides feedback to the
controller so that it knows

the actuator is doing work
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CONTROL SYSTEM
Open loop control system
The actuator is given a command to take an action for a fixed amount
of time, or of fixed magnitude.
No sensors are used; the user must know, for example, by calibration
of the actuator behaviour, how much work (or magnitude of effect)
will be done by the actuator for that value of the signal.
Such systems are cheaper, and usually lighter (since there is no sensor
to be mounted on the operated device).
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OPEN LOOP CONTROL SYSTEM
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CONTROL SYSTEM
Closed loop control system
Closed loop systems typically use a sensor to measure the actual
effect being caused by the actuator.
If the device is far from the target, the actuator is given a signal to
keep working; when the device reaches the target, the sensor signals
the actuator to stop its action (thus the signal from the sensor is
called a feedback).
Usually, feedback systems also accelerate the device when the target is
far away, and decelerate the device when it is near the target to
account for inertia.
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CLOSED LOOP CONTROL SYSTEM
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STRUCTURE OF AN ACTUATOR
Internally, actuators can be broken down into two separate modules:

Amplifier
converts the (low power) control signal into a high power signal that
is fed into the transducer;
Transducer
converts the energy of the amplified control signal into work; this
process usually involves converting from one form of energy into
another, e.g. electrical motors convert electrical energy into kinetic
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energy.
TYPES OF ACTUATORS
Some actuators include:
Pneumatic Actuators
Hydraulic actuators
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ELECTRICAL ACTUATORS
Change from electrical energy into mechanical motion.

ac servomotors, dc servomotors, stepper motors
Advantages: quiet, less floor space, electric power readily available, cleanair environments, precision
Disadvantages: conventional gear-driven create backlash, friction,
sometimes causing inaccuracies, poor dynamic response, output power
relative to weight is low; to increase torque, a larger and heavier motor
must be used which is costly
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ELECTRICAL ACTUATORS
Servo motor
DC motor
Linear motor
AC motor
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PNEUMATIC ACTUATORS
Pneumatic actuators
Air-driven actuators
Advantages: economical, easy installation, less costly than hydraulic
drives, good speed and accuracy
Disadvantages: precision is less than electric drives (air is
compressible),poor control properties (usually on/off), air needs
conditioning, noisy, vibration
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PNEUMATIC ACTUATORS
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HYDRAULIC ACTUATORS
Hydraulic actuators
Use of fluids to transmit power
Electric pump connected to a reservoir tank and a hydraulic actuator
Advantages: precise motion control over a wide range of speeds and
loads; robust
Disadvantages: expensive, high maintenance, not energy efficient,
noisy, not suited for clean-air environments
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HYDRAULIC ACTUATORS
Hydraulic valve
Hydraulic circuit
-pump
-accumulators
-Valves
-reservoir
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MECHANICAL ACTUATORS
convert mechanical motion to another mechanical motion
Example : conveyor, ball screw, rack and pinion, gear trains, ratchet and
pawl and etc.
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MECHANICAL ACTUATORS
Rack and pinion mechanism

(converts rotary motion into
linear motion and vice-versa)
Ball-screw mechanism
(convert rotary motion into linear motion)
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DRIVES
What is Drives
Is a signal or energy of a system for guiding the other system.
In the software driver, it is normally used in specific code. In
electronic circuit, it might be only the small signal. But, in electrical
circuit, it might be the electrical energy that guiding the actuator
directly. In mechanical system, it is energy forces to do the specific
motion.
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TYPES OF DRIVES
There are 5 types of driver:
Electrical drives
Mechanical drives
Pneumatic & hydraulic drives
Software drives
Power electronic drives
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ELECTRICAL DRIVES
Electrical drives
The control of actuator is according to characteristic of voltage, current
and impedance are known to regulate the output characteristic such as
rotation, speed, acceleration, etc
The used of electrical drive also depends on the type of motor , type of
control and also load characteristic.
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MECHANICAL DRIVES
Mechanical drives
The driver can be selected, designed and made adjustment to reach the
element of motion and load requirement.
Belt, gear and chain is the mechanical drive that commonly used in any
system.
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PNEUMATIC & HYDRAULIC DRIVES

Pneumatic & hydraulic drives
Can be categorized into two systems :

Pneumatic / hydraulic
Electro-pneumatic / Electro-hydraulic
The first system uses a fluid as the driving signal. Normally this
system uses a cylinder as a actuator. The signal from various type of
valve driving the control valves for guiding the actuator.
The second system uses electrical drive to driving the pneumatic/
hydraulic actuator. This system also can increase the flexibility of
the software driver. In addition, the combination between
pneumatic and hydraulic can give advantage in driving the high
pressure hydraulic system using low pneumatic pressure.
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SOFTWARE DRIVES
Software drives
The actuator is drive by using software program. However, this software
program must be compatible with specific system software such as Win
Xp, vista , seven, etc..
The software driver initially translated into a language code (eg; ASCII )
and then the electric electronic driver/ microprocessor software driving
the actuators and controlling the entire system.
The software can be modified into any specific drive without any
standard.
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POWER ELECTRONIC DRIVES

Power electronic drives
Involve the combination of various field of engineering such as control,
power electronic, microcontroller/microprocessor and sensor.
Involve the uses of power electronic devices such as diode, Thyristor,
BJT, MOSFET, GTO, IGBT.
The using of power electronic drive give more work efficiency and cost
saving for industry.
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BASIC TORQUE EQUATION
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LOAD CHARACTERISTICS
The mechanism which drives the load must be capable of matching the
loads torque speed characteristic, to achieve stable system operation.
The rated speed and torque characteristic of actuator must be higher

enough than the loads torque characteristic to obtain the desired output.
Normally the rated actuator behavior appear in data sheet or label.
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Example of matched and unmatched drive/load combination:
Induction motor and fan

Suitable
combination
Motor rated is higher than load demand
Make the system stable
Small induction motor and large compressor

Not suitable
because of load demand higher than motor output
rated.
Can cause unstable to the desired output especially during first
acceleration.
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A load torque exerted on the shaft of a motor may consist of general

elements such as:
Friction
Windage
Torque to drive the mechanical system without doing additional

mechanical work; eg bearing
Torque which moves the air surrounding the moving parts of the drive
Acceleration
Torque developed to overcome the mechanical inertia and change its

speed
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TYPES OF LOADS
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TYPES OF LOADS
Constant friction type of load

Independent of speed and may vary depends on operation.
Very small during a normal operation ( steady state )
Sticking friction at the time of starting may be considerable. But
almost negligible if the drive is started frequently
Friction also may negligible when the machine is fitted with some from
of ball or roller like bearing.
Dynamic or inertia load
When the speed of rotation is changing, the dynamic torque or

inertia torque acts against the motor torque.
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CONTINUE
35
CONTINUE
The motor can be connected to the load through a set of gears

The gears have teeth ratio and can be treated as torque transformers
The gears are used to amplify the torque on load side at lower speed
compared to the motor speed
The motors are designed to run at high speeds because it has been found
that the higher the speed, the lower is the volume and size of the motor
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MECHANICAL SPECIFICATION
We must not only looking to the type of motor or controller.

Mechanical system must be take as the important part to ensure the
capabilities of torque and speed is matched.
This is because the load is seen as the torque that must be applied to
the shaft by motor coupling.
It is important to match the drive to load to obtain the stable system.
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FOUR QUADRANT TORQUE
It is usual to define the relationship of drive to load using the Four

Quadrant Torque Speed Curves
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FOUR QUADRANT TORQUE
Quadrant 1 Forward Motoring
Quadrant 3 Reverse Motoring
Power flows from the supply to the motor and then to the load.
Quadrant 2 Forward breaking
Quadrant 4 Reverse breaking
Motor acts as a generator, power flows from the load, to the motor
and then to the supply.
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RANGE OF MOTOR OPERATION
Constant torque characteristics can be

maintained by armature voltage
control up to a certain speed.
At the rated speed this would require
rated voltage to be applied to the
armature voltage, and further increase
would not be possible due to
limitations of the motor such as
insulation ratings and thermal ratings
The speed increase beyond this point with constant torque until at
the based speed. This torque reduce after reach based speed cause
of weakening flux field. But during this time, power is remain constant.
40

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1

By the end of this chapter, students will be able to explain model,

energy to mechanical energy.

What is mechanical energy

components of a mechanical system

controller so that it knows

OPEN LOOP CONTROL SYSTEM

CLOSED LOOP CONTROL SYSTEM

Internally, actuators can be broken down into two separate modules:

Change from electrical energy into mechanical motion.

Rack and pinion mechanism

PNEUMATIC & HYDRAULIC DRIVES

Can be categorized into two systems :

POWER ELECTRONIC DRIVES

BASIC TORQUE EQUATION

The rated speed and torque characteristic of actuator must be higher

Normally the rated actuator behavior appear in data sheet or label.

Example of matched and unmatched drive/load combination:

Induction motor and fan

Small induction motor and large compressor

because of load demand higher than motor output

A load torque exerted on the shaft of a motor may consist of general

Torque to drive the mechanical system without doing additional

Torque developed to overcome the mechanical inertia and change its

Constant friction type of load

Dynamic or inertia load

When the speed of rotation is changing, the dynamic torque or

The motor can be connected to the load through a set of gears

We must not only looking to the type of motor or controller.

It is important to match the drive to load to obtain the stable system.

FOUR QUADRANT TORQUE

It is usual to define the relationship of drive to load using the Four

FOUR QUADRANT TORQUE

Quadrant 1 Forward Motoring

Quadrant 3 Reverse Motoring

Quadrant 2 Forward breaking

Quadrant 4 Reverse breaking

RANGE OF MOTOR OPERATION

Constant torque characteristics can be

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