ELECTRICAL ACTUATORS

Josep Amat and Alcia Casals

Automatic Control and Computer Engineering Department
ACTUATORS
1 Pneumatic actuators
Cylinders
Motors
2 Hydraulic actuadors
Cylinders
Motors
3 Electrical actuators
D.C. motors.
A.C. motors
Steeper motors.
 D.C. Motors.

Force.
H

Motor
 D.C. Motors.

Motor torque
with a one turn
coil

Motor torque
with two turns
coil

Brushes

Motor torque
with multiple
turns coil
 Casing

Stator

Stator
Rotor

Rotor
 D.C. Motors.

Stator
(Inductor)
Stator

Rotor
(Induced)

Serial excitation Parallel excitation

 D.C. Motors.

V = I (Re + Rr) + Vcem

I
T = KI I FI
Stator

V
T
Vcem = Kv w
Tr
V1
v2 w
wO ,
wO
Serial excitation
 D.C. Motors.

V = I (Re + Rr) + Vcem

I
T = KI I Fo
Stator

V
T
Vcem = Kv w
V1 Tr
V2
w
wO
Permanent magnet
dc motor
 D.C. Motors.
Control techniques

PWM
 A.C. Motors.

50 Hz. 3.000 r.p.m.

50 Hz. = 50 r.p.s x 60 = 3.000 r.p.m.

Triphasic voltage produces a rotator magnetic field

that steers the rotor, if it is a magnet
 A.C. Motors.

ac

F0 = 50 Hz.

The permanent magnet triphasic motor has a

constant speed. Synchronic motor
 A.C. Motors.
Control techniques

ac/dc dc/ac

f
The speed of a triphasic motor with permanent magnet
rotor can be controlled by varying the frequency of the
feeding signals.
 A.C. Motors.
+V

0V

AB

Control technique: using a dc / ac converter

Electrical Actuators

DC Motors.
Synchronous
AC Motors.
Asynchronous
Stepper Motors (Induction)
U V W

V V

S N

U U i
W W

Synchronous A.C. Motor Induction motor

the rotor is a permanent (asynchronous), the rotor is
magnet composed of one or more
windings in short-circuit
Rotor of an asyncronous a.c.
motor (Rotor as squirrel cage)
 D.C. Motor. A.C. Motor.
(Synchronous)

T T
Tr f1 Tr
V1
v2 w w
w1 wO w1
f1
A

B
 D.C. Motor. A.C. Motor.
(Synchronous)

T T
Tr Tr
V2
V1
w w
w1 wO w2 w0
U V W f0 = 50 Hz.
 Stepper Motors

S N
S N
S N
S N
N S N S
S N
S N
S N
S N

Control of the position of the rotor in a stepper

motor using multiple pole pairs
 Stepper Motors

S N
N S
S N
S N
N S N S
S N
S N
N S
S N

Reduction of the number of pole pairs to a minimum,

groups of three that share the same coils:
Three phases stepper motor
 Stepper Motors

S N S N
N S N S
S N S N
S N S N
N S N S
S N S N
S N S N
N S S
N N N
S S

Stepper motor control in three phases

 Stepper motors.
0 N S N S N S N S N S N S N S N S N S N

0 N S N S N S N S N S N S N S N S N S N

0 N S N S N S N S N S N S N S N S N S N

1 S N S N S N S N S N S N S N S N S N S

1 N S N S N S N S N S N S N S N S N S N

1 S N S N S N S N S N S N S N S N S N S

1 S N S N S N S N S N S N S N S N S N S

0 S N S N S N S N S N S N S N S N S N S

Control of a two bodies stepper motor of two phases

Internal structure of a two bodies stepper motor, of two phases
 Stepper Motors.

Control techniques of a two phases stepper motor