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USU ECE 5320 - Literature Survey on Sensors and Actuators

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ECE5320 Mechatronics Assignment#01: Literature Survey on Sensors and Actuators Topic: Stepper MotorOutlineReference listTo explore furtherWhen to UseStepper Vs ServoExample ApplicationsAdvantagesDisadvantagesHow stepper motors workSlide 11Slide 12Types of stepper motorsVariable-reluctance (VR)Permanent-magnet (PM)HybridUnipolar Winding ArrangementBipolar Winding ArrangementControlling a two phase Stepper MotorControlling a Stepper Motor With a HCS12 MicrocontrollerHow to pickWhere to buyCostECE5320 MechatronicsAssignment#01: Literature Survey on Sensors and Actuators Assignment#01: Literature Survey on Sensors and Actuators Topic: Stepper MotorPrepared by:Michael WoodDept. of Electrical and Computer Engineering Utah State UniversityE:[email protected] ; T: (435)755-7682; F: (435)797-3054 (ECE Dept.)3/4/200901/14/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-2Outline –Reference list–To explore further–When to use–Stepper vs Servo–Applications–Advantages and Disadvantages–How stepper motors work–Types of Stepper Motors–Winding Arrangements–Controlling –How to pick–Where to buy01/14/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-3Reference list•http://www.freescale.com/files/microcontrollers/doc/app_note/AN2974.pdf beginners drive stepper motor•http://library.solarbotics.net/pdflib/pdf/motorbas.pdf stepper motor basics•http://www.steppermotorworld.com/ good web resource•http://library.solarbotics.net/pdflib/pdf/motorbas.pdf•http://www.steppermotorworld.com/•http://www.cs.uiowa.edu/~jones/step/•http://en.wikipedia.org/wiki/Stepper_motor01/14/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-4To explore further •Handbook of Small Electric Motors William H. Yeadon and Alan W, Yeadon, eds. McGraw-Hill, c2001. LC number: TK2537 .H34 2001 •Stepping motors: a guide to modern theory and practice Acarnley, P. P. P. Peregrinus on behalf of the IEE, 1984, c1982. LC number: TK2537 .A28 1984 •Stepping motors and their microprocessor controls Kenjo, Takashi Oxford University Press, c1984. LC number: TK2785 .K4 1984When to Use•Whenever discrete steps are required•High torque at low speeds•When precision positioning is required•If torque needs to be held•To eliminate closed loop control (stepper motors can operate in open loop)01/14/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-5Stepper Vs ServoMotion Characteristics Servo Motors Stepper MotorsHigh Torque, Low Speed Can be considered if cost/ complexity is not an issue.Continuous duty applications requiring high torque and low speed.High Torque and high speed (>2000 rpm) A DC servomotor can deliver greater continuous shaft power at high speeds compared to steppers. High speed up to 12000 rpm is possible. If speeds are less than 2000 rpm stepper may be economical. Stepper becomes bulky at high torque.Short, Rapid Repetitive Moves Use servo if you need high dynamic requirements.Stepper will offer more economic solution when requirements are more modest.Positioning Applications Servo can handle effectively when load is mostly inertia instead of friction. The ability to overdrive servo motor in intermittent duty allows a smaller motor to be used. If positioning is critical in micron level use servo.Use stepper motor if torque is lower than 500 oz-in, less 2000 rpm, low to medium acceleration rates.Applications in Hazardous Environments Use brushless servo motor. Use step motor.Low Speed, High Smoothness Use DC servo. Use microstepping.Control Method Closed loop. Preferred to be used in open loop applications.01/14/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-6www.netmotion.com01/14/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-7Example Applications Machine Tools•X-Y and X-Y-Z PositioningProcess Control•Main Conveyor Drive•Assembly Line parts positioningBusiness Machines•Copy Machine- lens positioning and paper feedComputer Peripherals•Printer- positioning the matrix print headAdvantages•Rotation angle is proportional to input pulse•Motor has full torque at standstill•Precise positioning and repeatability of movement•Excellent response start/stop/reverse•Open loop control possible •Achieve low speed with a directly couple load•Realize a wide range of speeds•Inexpensive relative to other motion control systems•Easy to set up and use•Overload safe. Motor cannot be damaged by mechanical overload01/14/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-8Disadvantages•Low efficiency. Motor draws substantial power regarldess of load.•Torque drops rapidly with speed (torque is the inverse of speed).•Low accuracy. 1:200 at full load, 1:2000 at light loads.•Prone to resonances. Requires microstepping to move smoothly. •No feedback to indicate missed steps. •Low torque to inertia ratio. Cannot accelerate loads very rapidly•Motor gets very hot in high performance configurations.•Motor will not “pick up” after momentary overload•Motor is audibly very noisy at moderate to high speeds.•Low output power for size and weight.01/14/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-9How stepper motors workCurrent flows through the coil creating a magnetic fieldA metallic core channels the field perpendicular to the rotorDepending on the polarity of the field an attraction or repulsion drives the rotor01/14/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-10How stepper motors work•Current pulses are applied to the motor, and this generates discrete rotation of the motor shaft •By controlling the pulses the rotation speed can be controlled01/14/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-11How stepper motors work•If a coil is energized the closes rotor edges will be attracted to that coil. As long as the coils remain energized the rotor will remain stagnant. •By energizing coils the correct sequence the motor will discretely rotate01/14/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-12Types of stepper motors1. Variable-reluctance2. Permanent-magnet3. Hybrid01/14/19ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuatorsSlide-13Variable-reluctance (VR)Variable-reluctance motors are not very common but easy to understand•Rotor – made of soft


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USU ECE 5320 - Literature Survey on Sensors and Actuators

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