Beruflich Dokumente
Kultur Dokumente
Saha
Review of Lecture 3
Questions from Lecture 3?
• Pneumatic actuator
– Components Æ Advantages/disadvantages
• Rotary hydraulic actuator?
Æ Spool valve & Actuator figures
– Rack and Pinion type
• Hydraulic actuator – Helical g
gear types
yp
– Advantages/disadvantages Æ Applications
• Amplifier, e.g., hydraulic actuator
• Electric motors – Say, gear ratios for above actuators
– Advantages/disadvantages
• Operating pressures for Pneumatic/Hydraulic
– Stepper motors: Variable reluctance Æ
actuators?
Permanent magnet Æ Hybrid
Outline DC Motors
• DC motors
– Principle
• Direct Current: Used in toys etc.
– Permanent Magnet (PM) • Electrically driven robots us DC
– Brushless n PM – Introduced in 1974 by ABB
• AC motors
t – Powerful versions available
– Control is simple
– Induction
– Batteries are rarely used
– Synchronous
– AC supply is rectified to DC
• Selection of motors
– Sample calculation
DC & AC Motors 1
Prof. S.K. Saha
• No field coils
• Field is by permanent magnets (PM)
• Some PM has coils for recharge
• Torque ∝ Armature current [Const. flux]
DC & AC Motors 2
Prof. S.K. Saha
DC & AC Motors 3
Prof. S.K. Saha
• Electromagnetism
Elect omagnetism is used
sed for
fo • Poly-
Poly-phase (typically 3-
3-phase) [High-
[High-
regenerative braking (also for DC) Æ power requirements]
Reduces deceleration time and overrun – Induction
DC & AC Motors 4
Prof. S.K. Saha
AC vs. DC Motors
Questions/Doubts?
• Cheaper, rugged, reliable, maintenance
free
• Speed control is more complex
• Speed-
Speed-controlled DC drive (stator
voltage) is cheaper than speed
speed--controlled
AC drive (V
(Variable Frequency Drive)
• Price of VFD is steadily reducing
• Pneumatics are not for high precision for • All power can be from one powerful
continuous path hydraulic pump located at distance
DC & AC Motors 5
Prof. S.K. Saha
DC & AC Motors 6
Prof. S.K. Saha
Summary
Final Selection
• DC motors
• Peak speed and peak torque – Permanent Magnet (PM)
requirements , where TPeak is max of – Brushless PM
(magnitudes) T1, T2, and T3 – Their construction + advantages,
g , etc.
• Use individual torque and RMS values + • AC motors
Performance curves provided by the
– Single-
Single-phase: Induction vs. Synchronous
manufacturer.
– Three-
Three-phase
• Check heat generation + natural
frequency of the drive. • Selection of motors in practical applications
Thank You
saha@mech.iitd.ac.in
sahaiitd@gmail.com
http://web.iitd.ac.in/~saha
DC & AC Motors 7