Actuator - Notes and Examples

YASER M. ROSHAN
 Microstepping

Adjacent poles are driven with different phase current levels in small steps.

Requires special control circuitry.

Provides accurate motions, finer resolutions, smaller overshoots, etc.

The drawback is the reduction of motor torque.

Non-Uniform Stepping for Precision Position Control
 Induction Motor Control

Remember the Torque/Speed Relationship:

Control from Stator Side:

Excitation frequency control
Supply voltage control
Pole Changing

Control from Rotor Side:

Rotor resistance control
 Excitation Frequency Control

Can be accomplished using a thyristor circuit in an

inverter.
 Voltage Control

The input voltage can be controlled by various methods.

eg.: Chopping AC supply with high frequency will change its RMS
value.

Advantage: Lower stator copper loss w.r.t. the previous method

Disadvantage: Poor efficiency when control over a wide range is

required.
 Pole Changing Control

Relationship between Motor Synchronous Speed and Poles:

Rotor Resistance Control
 Examples Stepper Motor

When a phase winding of a stepper motor is switched on, ideally the current in the winding should
instantly reach the full value (hence providing the full magnetic field instantly). Similarly, when a
phase is switched off, its current should become zero immediately. It follows that the ideal shape of
phase current history is a rectangular pulse sequence. In actual motors, however, the current curve
deviates from the ideal rectangular shape, primarily because of the magnetic induction in the phase
windings. Using sketches indicate how the phase current waveform would deviate from this ideal
shape under the following conditions:
Very slow stepping
Very fast stepping at a constant stepping rate
Very fast stepping at a variable (transient) stepping rate

A stepper motor has a phase inductance of 10 mH and a phase resistance of 5 ohms. What is the
electrical time constant of each phase in the stepper motor? Estimate the stepping rate below which
magnetic induction effects can be neglected so that the phase current waveform is almost a rectangular
phase shape.
 Examples DC Motor

Including all common losses in DC motor, find the efficiency and power transfer graphs.
 Examples DC Motor

A 230 V, 10 hp, DC shunt motor delivers power to a load at 1200 rpm. The armature
current drawn by the motor is 200 A. The armature circuit resistance of the motor is 0.2
ohms and the field resistance is 115 ohms. If the rotational losses are 500 W, what is the
load torque? What is the efficiency?
 Examples DC Motor

A series connected DC motor has an armature resistance of 0.5 ohms and field resistance
of 1.5 ohms. In driving a certain load at 1200 rpm, the current drawn by the motor is 20 A
form a 220 V power supply. The rotational losses are 150 W. Find the output power and
efficiency.
Examples DC Motor
Examples DC Motor