aph 03 actuators - 156.17.38.202156.17.38.202/aae_apds_lect/aph_03_actuators.pdf · 22 permanent...
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![Page 1: APH 03 Actuators - 156.17.38.202156.17.38.202/AAE_APDS_lect/APH_03_Actuators.pdf · 22 Permanent magnet motor wavedriving Lessons In Electric Circuits, Volume II –ACBy Tony R. Kuphaldt,](https://reader036.vdocuments.mx/reader036/viewer/2022071415/6111a09452db815b6b3ba106/html5/thumbnails/1.jpg)
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Actuatorsrelays & motors
References
• Takashi Kenjo, Akira Sugawara, Stepping motors and their microprocessor controls, Oxford University Press, USA , 1995
• T. R. Kuphaldt, Lessons In Electric Circuits, Volume II – AC, 6th Edition, 2007(http://www.faqs.org/docs/electric/AC/index.html)
• J. Przepiorkowski, Silniki elektryczne w praktyce elektronika, BTC
Outline
• relays
– mechanical
– electronic relay (SSR)
• stepper motors ( + microsteps)
• ac motors
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Relays
SPST
SPDT
DPST
DPDT
Single(Double)Pole
Single(Double;Triple)Throw
CO – centre off/change over
example
SPTT=SPCO
Relay
reed relay
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Relays
AC relay
Relays - types
• Regular
• Latching (bistable)
• Polarized relay
• Reed relay – (mercury wetted)
• Contactor
• Solid state relay– transistor
– triac
– thyristor
• Other (safety switches, over current,……)
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Relay - diagram symbol
Ohm’s low for inductance
dt
dILU L =
TIPS:
•higher voltage applied – faster changes of current
•fast changes in current – higher voltage induced
•when current change „slope direction” – voltage change
polarity:
•positive voltage applied – current increased
•current decreased – negative voltage induced
LLLL ICi
IXUω1==
Switching on and off an inductor
IL
UCE
UL
UCE
UL
VCC
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Vcc
+V
GND
R
Relay – spark discharge
UCE
UL
High voltage can destroy
transistor and relay
and can be very dangerous !!!!
Switching on and off an inductor
IL
UCE
ULUCE
UL
VCC+UD
VCC
- UD
protection diode;
flyback diode;
clamp diode;
Vcc
+V
GND
R
Switching on and off an inductor
IL
UCE
UL
UCE
UL
VCC+UD
VCC
- UD- UD-UZ
VCC+UD+UZ
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Vcc
+V
GND
R
Switching on and off an inductor- series resistor influance
IL
UCE
UL
UCE
UL
VCC+UD
VCC
- UD- UD-UZ
VCC+UD+UZ
Decreasing rise time
(off to on time)
1. Increase Vcc
2. add Rs to preserve Imax
3. result=> higher power
dissipation
Decreasing rise time with current limit
IL
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Driving relays and motors
I<=1A
Driving relays and motors
BDX…
74HC04
Darlington array ULN2004
http://focus.ti.com/lit/ds/symlink/uln2004a.pdf
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Driving relay/motor
with MOSFET and IGBT
MOSFET
BUZ…
IRF…..
1-30A…
IGBT
..10-300A…
Solid State Relays (SSR)
Solid State Contractor (SSC)
SSR of different typescan be used for AC driven mechanical relays
•Usually small power
but can drive any
type of load
(including induction)
•AC and DC
applications
•Be carfull with inductive load – the load can
be not switched off !!!
•AC applications only
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High power SSR
RC snubber
Protection elements:
•capacitive load
•chock
•NTC,
•PTC( in series)
•induction load
•surge arrester
•varistor
•transil
<30V – other load
>30V – over contacts
RC snubber
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PMDC
brushed
Motors
Electric motors• AC motors
– squirrel cage (3 phase, shade pole, cpacitor, split phase)
– synchronous
• DC motors– Permanent magnet DC
• Ironless brush motor
– Universal motors• series
• shunt
• compound wound
• BrushLess DC (BLDC)– 2 phase
– 3 phase
• Stepper motors– reluctance
– permanent magnet
– hybrid
• Linear (Voice Coil Motor – VCM)
Motors propertiesType Advantages Disadvantages Typical Application Typical Drive
AC Induction(Shaded Pole)
Least expensiveLong lifehigh power
Rotation slips from frequencyLow starting torque
Fans Uni/Poly-phase AC
AC Induction(split-phase capacitor)
High powerhigh starting torque
Rotation slips from frequency
AppliancesStationary Power Tools
Uni/Poly-phase AC
Universal motorHigh starting torque, compact, high speed
Maintenance (brushes)Medium lifespan
Drill, blender, vacuum cleaner, insulation blowers
Uni-phase AC or Direct DC
AC SynchronousRotation in-sync with freq -hence no sliplong-life (alternator)
More expensive
Industrial motorsClocksAudio turntablestape drives
Uni/Poly-phase AC
Stepper DCPrecision positioningHigh holding torque
High initial costRequires a controller
Positioning in printers and floppy drives
DC
Brushless DCLong lifespanlow maintenanceHigh efficiency
High initial costRequires a controller
Hard drivesCD/DVD playerselectric vehicles
DC
Brushed DCLow initial costSimple speed control
Maintenance (brushes)Medium lifespan
Treadmill exercisersautomotive motors (seats, blowers, windows)
Direct DC or PWM
Pancake DCCompact designSimple speed control
Medium costMedium lifespan
Office EquipFans/Pumps
Direct DC or PWM
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Squirrel cage
Squirrel cage – drivig inverter
InverterIRAMS10UP60A
by International Rectifier
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Shaded pole induction motor
advantages
•Very cheap and reliable
•Extremely rugged in nature
•Easy to construct
disadvantages
•Low starting torque
•Low efficiency
Shaded pole
induction
motor
Capacitor Run
Permanent Split Capacitor(PSD Motor)
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Split Phase Induction Motor
Induction Motor control
by means of slip control
Induction Motor control by means of slip control
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Synchronous motor
Lessons In Electric Circuits, Volume II – AC By Tony R. Kuphaldt, Sixth Edition, last update July 25, 2007
Multipole synchronous motor
The inductionf or self starting
and the bar magnet as
synchronous motor
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Synchronous motor
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Synchronous motorplat drive of microwave
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DC motorsPMDC – Permanent Magnet DC
High starting torque,
compact,
high speed,
easy to controll,
cheap
Maintenance (brushes)
Medium lifetime,
Noisy
EMI emission
DC motorsPMDC – Permanent Magnet DC - control circuit
E=const
RsI
RII
Direction controll - H bridge
MOTOR
TIPS:
BJT, MOSFET, IGBT transistors can be used,
diodes cunduct self inductance currents
Vcc
current limit
or control
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H bridge operation 1
Vcc
ON
ON
OFF
OFF
Vcc
OFF
OFF
OFF
OFF
slow decaydrive
H bridge operation 2
Vcc
ON
ON
OFF
OFF
Vcc
OFF
OFF
OFF
OFF
slow decaydrive
Bootstrapping
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DC motorsPMDC – Permanent Magnet DC -ironless (coil and disc) -pancake
TIP:
very little momentum – fast start
http://www.designworldonline.com/ArticleDetails.aspx?id=1973
http://www.kurz-motor.de/eprodukteframetextgleichstromscheibenlaeufer.htm
Permanent magnet replaced by
electromagnet – universal motor
compound motordifferential compound m.
series motorshunt motor
Torque vs. speed
torque
speed
series
shunt
differential
compound
1
1
0
0
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Universal motor – driver /
controller
MTips:
1. voltage controlled
2. direction can be changed
by switching stator or rotor
winding
3. the example shown is the
most simple
Universal motor – driver/controller
more sophisticated example
From Motorola materials
(now ON Semiconductor)
stepper motors- bi/uni-polar
bipolar winding
H bridge neededunipolar winding
single swich
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(2 phase) steppper motor internal
conections
4 wires
(bipolar only)
8 wires
(bipolar/unipolar)
6 wires
(bipolar handicaped/
/unipolar)
5 wires
(unipolar only)
Unipolar/Bipolar stepper motor
driving
Steppper motor – reluctance motor
Lessons In Electric Circuits, Volume II – AC By Tony R. Kuphaldt, Sixth Edition, last update July 25, 2007
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Permanent magnet motor
wave driving
Lessons In Electric Circuits, Volume II – AC By Tony R. Kuphaldt, Sixth Edition, last update July 25, 2007
Permanent magnet motor
full step driving
Lessons In Electric Circuits, Volume II – AC By Tony R. Kuphaldt, Sixth Edition, last update July 25, 2007
Permanent magnet motor
half step driving
Lessons In Electric Circuits, Volume II – AC By Tony R. Kuphaldt, Sixth Edition, last update July 25, 2007
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Full/microstep
driving
Hybrid motor
phasesteeth NNStep
⋅= deg360
1,3,5,7 – phase A
2,4,6,8 – phase B
LMD18245 3A, 55V DMOS Full-Bridge
Motor Driver – National Instrument
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LMD18245
application
TMC246
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DRV8811
TI
Clock
BLDC (BrushLess DC) motors
S
N
SN
SN
S
N
rotor
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BLDC
1 phase
TA8420/21 BLDC 2 phase driver
LB1864 2 phase BLDC driver
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3 phase BLDC
BLDC
BLDC
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BLDC – bipolar driving - star
A
CB
BLDC – bipolar driving - triangle
A
C B
BLDC – unipolar driving - star
A
CB
+Vcc
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L6268 driver BLCD + VCM(voice-coil-motor) (ST)
VCM motors (actuators)(hard disk head, laser positioner in CD )
Linear motor
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Summary• Electromechanical relays
• SSR
• AC motors– squirrel cage (3 phase, shade pole, capacitor, split phase)
– synchronous
• DC motors– Permanent magnet DC
– Universal motors
• Brushless DC (BLDC)
• Step motors
• Linear (Voice Coil Motor – VCM)