ECE5320 Mechatronics Assignment#01a: Literature Survey on Actuators Topic: Advanced Motion Technologies’ Electromagnetic ActuatorsOutlineReference listTo explore furtherMajor applicationsMajor Applications IIBasic Working PrincipalSimplified Diagram of an ERSimplified Diagram of an ER II “Double Cup ServoRam”Sample ConfigurationSlide 11Sample Configuration IISample Configuration - ControlSample Configuration – Control IIMajor SpecificationsMajor Specifications IIMajor Specifications IIIActuator SpectrumBasic DynamicsLimitationsER Usage NotesECE5320 MechatronicsAssignment#01a: Literature Survey on Actuators Assignment#01a: Literature Survey on Actuators Topic: Advanced Motion Technologies’Electromagnetic ActuatorsPrepared by: Cal CoopmansDept. of Electrical and Computer Engineering Utah State UniversityE: [email protected]; T: (435)797-7510;F: (435)797-3054 (ECE Dept.)3/7/200801/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-2Outline –Reference list–To explore further–Major applications (I, II)–Basic working principle –A sample configuration of an ER (I, II)–A sample configuration of an ER – Control (I, II)–Major specifications (I, II, III)–Actuator Spectrum–Basic Dynamics–Limitations–Usage Notes01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-3Reference list•http://www.yet2.com/app/insight/techofweek/7466•http://www.advancedmotion.net/products-servoram.asp•http://www.advancedmotion.net/pdf/servo1.pdf•http://www.advancedmotion.net/pdf/veh_sus.pdf•http://www.advancedmotion.net/pdf/servoperformance.pdf01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-4To explore further•Note that there currently only exists one supplier of Electromagnetic Linear Actuators (Rams) - Advanced Motion Technologies, www.amt.net•http://www.advancedmotion.net/products-overview.asp contains a general overview of the ER products01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-5Major applications •ERs were originally invented to move Flight Simulators and other simulators•ERs can be used in nearly every situation that a traditional hydraulic actuator can be applied•ERs are completely sealed and can operate in harsh/underwater/sterile environments where hydraulic actuators cannotPicture from: http://www.yet2.com/app/insight/techofweek/746601/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-6Major Applications II •Stewart Platforms*–Motion Bases–Simulators/training•Active suspension systems–Since ERs don’t require a pump system and interconnects, they can be more directly integrated with control systems•Aircraft launchers for nuclear aircraft*http://en.wikipedia.org/wiki/Stewart_platform01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-7Basic Working Principal•ERs have been described as “unrolled motors…” re-rolled at 90 degrees•They have a 3-phase interface that is virtually identical to traditional 3-phase servo motors•This means they can be controlled by standard 3-phase motor control hardwarePicture from: http://www.advancedmotion.net/pdf/servo1.pdf01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-8Simplified Diagram of an ER01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-9Simplified Diagram of an ER II“Double Cup ServoRam”01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-10Sample Configuration•Attitude control of a moving automobile•Equivalent block for ER:Example from: http://www.advancedmotion.net/pdf/veh_sus.pdf•Suspension Mass (car body) separated from the stator and the ground by the ER’s air spring•A force-sensor combined with active control gives “constant” force during turns and other maneuvers01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-11Sample Configuration•Attatude clearance control of a automobile•Control loop #1: Magnetic Force01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-12Sample Configuration II•Ground clearance control of a automobile•Control loop #2: Gas Spring Pressure control01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-13Sample Configuration - Control•“By using a combination of the active and passive suspension control technologies, it is•also possible to arrange for the power collected by the damping system to be used to•drive the wheel units in fully active mode during the return stroke. This increases the•force holding the wheels in contact with the road and produces a smoother ride.”01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-14Sample Configuration – Control II01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-15Major Specifications•There are two main components to the ServoRam design:–The electrical actuator for dynamic loads–The gas (Air) compression for static loads•The ER design has–Speeds up to 80 meters/second–Thrusts of more than 100 metric tons–Strokes more than 100 meters(!)–High efficiencyFrom: http://www.advancedmotion.net/pdf/servoperformance.pdf01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-16Major Specifications II•A ER has:–Zero mechanical backlash due to a single moving part–Zero transport lag; only mechanical hysteresis–Better than 90% efficient–Scaleable (10N to 1MN)–Better than 1 micron precision–Better than 100m/second rate–More than 100Hz bandwidth–High temperature range (+-200deg C)From: http://www.advancedmotion.net/pdf/servoperformance.pdf01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-17Major Specifications III•ERs:–Are mess free vs. hydraulics and other mechanical actuators–Have very low wear characteristics •Smooth in action•Nearly silent–Are clean!•Can be used where other actuators cannot01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-18Actuator Spectrum•From USU Mechatronics Notes:Note that the bandwidth in traditional systems is at the 90 deg phase lag point; and depends on the system dynamicsHowever, ERs have 0 transport lag01/13/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-19Basic Dynamics•Sine Wave Motion:•Differentiate
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