MECHATRONICS

AC MOTORS

An AC motor is an electric motor

driven by an alternating current.
 TYPES OF AC MOTORS
 There are two main types of AC motors, depending on the
type of rotor used.
 The first type is the induction motor, which runs slightly
slower than the supply frequency. The magnetic field on the
rotor of this motor is created by an induced current.
 The second type is the synchronous motor, which does not
rely on induction and as a result, can rotate exactly at the
supply frequency or a sub-multiple of the supply frequency.
The magnetic field on the rotor is either generated by current
delivered through slip rings or by a permanent magnet.
Other types of motors include eddy current motors, and also
AC/DC mechanically commutated machines in which speed
is dependent on voltage and winding connection.
 BASIC PRINCIPLE
 When the rotor rotates, the stator conductors
are cut by the magnetic flux, hence they have
induced e.m.f produced in them.
 Because the magnetic poles are alternatively N
and S, they induced an e.m.f and hence current
in armature conductors which first flow in one
direction and then in the order.
 CONSTRUCTION
 ROTOR
1. Salient pole
It is used in low and medium speed alternators
2. Smooth cylindrical
It is used for steam turbine driven alternators.
The rotor consists of a smooth solid forged steel
cylinder having a number
 STATOR
In alternator, it is used for holding the armature
stampings and windings in position
 SINGLE PHASE MOTOR
 To operated on single phase supply and for use in
numerous application like ceiling fans, refrigerators, food
mixers ect.
 A single phase induction motor physically looks similar to
that of a three phase induction motor except that its stator
is provided with a single phase winding.
 The rotor of any single phase induction motor is
interchangeable with that of a polyphase induction motor
 A single phase winding would produce no rotating
magnetic field and no starting torque.
 In the stator of a single phase motor is provided with an
extra winding known as starting
 3 PHASE MOTOR
 Induction AC Motors: Induction ac motors are the
simplest and most rugged electric motor and
consists of two basic electrical assemblies: the
wound stator and the rotor assembly.
 The induction ac motor derives its name from
currents flowing in rotor that are induced by
alternating currents flowing in the primary
member (stator).
 The combined electromagnetic effects of the
stator and rotor currents produce the force to
create rotation.
 AC motors typically feature rotors, which consist of a
laminated, cylindrical iron core with slots for receiving
the conductors.
 The most common type of rotor has cast-aluminum
conductors and short-circuiting end rings.
 This ac motor "squirrel cage" rotates when the moving
magnetic field induces a current in the shorted
conductors.
 The speed at which the ac motor magnetic field rotates is
the synchronous speed of the ac motor and is determined
by the number of poles in the stator and the frequency of
the power supply: ns = 120f/p, where ns = synchronous
speed,    f = frequency, and     p = the number of poles.
 Synchronous speed is the absolute upper limit of ac motor
speed.
 If the ac motor's rotor turns exactly as fast as the rotating
magnetic field, then no lines of force are cut by the rotor
conductors, and torque is zero.
 When ac motors are running, the rotor always rotates slower
than the magnetic field.
 The ac motor's rotor speed is just slow enough to cause the
proper amount of rotor current to flow, so that the resulting
torque is sufficient to overcome windage and friction losses,
and drive the load.
 The speed difference between the ac motor's rotor and
magnetic field, called slip, is normally referred to as a
percentage of synchronous speed: s = 100 (ns - na)/ns, where s
= slip, ns = synchronous speed, and na = actual speed.
 SQUARE CAGE MOTOR
 In this type a cooper or aluminum bars are
placed in slots cut in the laminated iron rotor
core.
 This type of rotor has no external connections
which means that slip rings and brushes are
not needed
 AVANTAGES OF SQUIRREL-CAGE

The advantages of squirrel –cage motors

compared with the wound rotor type are that
they :
1. Are cheaper and more robust
2. Have slightly higher efficiency and power
factor.
3. Are explosion proof, since the risk of sparking
is eliminated by the absence of slip rings and
brushes
 ROTOR WOUND MOTOR
 A wound rotor induction motor has a stator like the
squirrel cage induction motor, but a rotor with
insulated windings brought out via slip rings and
brushes.
 However, no power is applied to the slip rings.
Their sole purpose is to allow resistance to be placed
in series with the rotor windings while starting. This
resistance is shorted out once the motor is started to
make the rotor look electrically like the squirrel cage
counterpart.
 ADVANTAGES OF WOUND ROTOR
INDUCTION MOTORS
The advantages of the wound rotor motor
compared with the cage type are that they :
1. Have a much higher starting torque

2. Have a much lower starting current

3. Have a means of varying speed by use of

external rotor resistance.
Motors
 coils of conductive wire
 magnetic fields
 rotational motion
 except for linear induction motor
 everywhere from the very large (LRT) to the
very small (toys)
 electrical energy converted to mechanical
 Stepper Motors
 more accurately controlled than a normal
motor allowing fractional turns or n
revolutions to be easily done
 low speed, and lower torque than a comparable
D.C. motor
 useful for precise positioning for robotics
 Servomotors require a position feedback signal
for control
Stepper Motor Diagram
 Stepper Motor Types

 Variable Reluctance

 Unipolar/Bipolar Permanent Magnet

Variable Reluctance Motors
 Variable Reluctance Motors
 This is usually a four wire motor – the common
wire goes to the +ve supply and the windings
are stepped through
 Our example is a 30o motor
 The rotor has 4 poles and the stator has 6 poles
 Example
 Variable Reluctance Motors
 To rotate we excite the 3 windings in sequence
 W1 - 1001001001001001001001001
 W2 - 0100100100100100100100100
 W3 - 0010010010010010010010010
 This gives two full revolutions
Unipolar Motors
Four Phase Stepper Motor
 Unipolar Motors
 This is usually a 5 or 6 wire motor – with a
centre tap on each of the two windings – the
two taps are typically wired to the +ve
 Our example is a 30o motor
 The rotor has 6 poles and the stator has 4 poles
 Example
 Unipolar Motors
 To rotate we excite the 2 windings in sequence
 W1a - 1000100010001000100010001
 W1b - 0010001000100010001000100
 W2a - 0100010001000100010001000
 W2b - 0001000100010001000100010
 This gives two full revolutions
Basic Actuation Wave Forms
 Unipolar Motors
 To rotate we excite the 2 windings in sequence
 W1a - 1100110011001100110011001
 W1b - 0011001100110011001100110
 W2a - 0110011001100110011001100
 W2b - 1001100110011001100110011
 This gives two full revolutions at 1.4 times
greater torque but twice the power
 Enhanced Waveforms

 better torque
 more precise control
 Unipolar Motors
 The two sequences are not the same, so by
combining the two you can produce half
stepping
 W1a - 11000001110000011100000111
 W1b - 00011100000111000001110000
 W2a - 01110000011100000111000001
 W2b - 00000111000001110000011100
Torque vs. Speed
 Motor Control Circuits

 Fundamentally a circuit as below is required

 Motor Control Circuits

 We must deal with the inductive kick

when the switches are turned off. We
can shunt this using diodes.
 Motor Control Circuits

 In order to interface the stepper motor with a μP (or

similar) we need a TTL compatible circuit. The 5v
control should be well regulated. The motor power will
not require regulation.
 Motor Control Circuits

 For low current options the ULN200x

family of Darlington Arrays will drive
the windings direct.
Interfacing to Stepper Motors
8255 PPI
Stepper Motor Step Angles
 Terminology

 Steps per second, RPM

 SPS = (RPM * SPR) /60

 Number of teeth
 4-step, wave drive 4-step, 8-step
 Motor speed (SPS)
 Holding torque
 Vector Generation
 Hardware solutions
 Logic design
 State machine

 Software solutions
 Microprocessor and output ports
 timing
Example
Control Valve
What is valve?
A valve is a device that regulates, directs or controls the flow of a fluid
by opening, closing, or partially obstructing various passageways.

Valve Functions
 Stopping and starting fluid flow.
 Varying (throttling) the amount of fluid flow.
 Controlling the direction of fluid flow.
 Regulating downstream system or process pressure.
 Relieving component or piping over pressure.
Classification of Valves
The following are some of the commonly used valve classifications, based on mechanical motion:
•Linear Motion Valves. The valves in which the closure member, as in gate, globe, diaphragm, pinch moves
in a straight line to allow, stop, or throttle the flow.

•Rotary Motion Valves. When the valve-closure member travels along an angular or circular path, as in
butterfly, ball, plug valves.

•Quarter Turn Valves. Some rotary motion valves require approximately a quarter turn, 0 through 90°,
motion of the stem to go to fully open from a fully closed position or vice versa.
 Methods of controlling flow through a valve.

1. Move a disc, or plug into or against an orifice globe or

needle type valve)

globe valve Needle valve

 Methods of controlling flow through a valve.

2. Slide a flat, cylindrical, or spherical surface across the orifice.

plug valve gate valve

Methods of controlling flow through a valve.

3. Rotate a disc or ellipse about a shaft extending across the diameter of

an orifice.

ball valve butterfly valve

Methods of controlling flow through a valve.

4. Move a flexible material into the flow passage.

diaphragm valve pinch valve

Basic Parts of the valve
 Body
 Bonnet
 Trim (internal elements)
 Actuator (Handwheel)
 Packing
Basic Parts of the valve
Body
It is called the shell, is the primary pressure boundary of a valve. It serves
as the principal element of a valve assembly because it is the framework
that holds everything together.
Basic Parts of the valve
Bonnet
The cover for the opening in the valve body.
Bonnets Features
• bonnet is the second principal pressure boundary of a
valve.
• It is cast or forged of the same material as the body and
is connected to the body by a threaded, bolted, or
welded joint.
• the attachment of the bonnet to the body is considered
a pressure boundary. This means that the weld joint or
bolts that connect the bonnet to the body are pressure-
retaining parts.
Welded Bonnet
• Valve bonnets, although a necessity for most valves,
represent a cause for concern,
• Bonnets can complicate the manufacture.
• Increase valve size.
• Represent a significant cost portion of valve cost.
• Bonnets are a source for potential leakage.

Bolted Bonnet
Basic Parts of the valve
Valve Trim
The internal elements of a valve are collectively referred to as a valve's
trim. The trim typically includes a disk, seat, stem, and sleeves needed to
guide the fluid. A valve's performance is determined by the disk and
seat interface and the relation of the disk position to the seat. Because of
the trim, basic motions and flow control are possible.

Valve Trim
Basic Parts of the valve
Internal parts of the valve

Disk
Disk is the third primary principal pressure boundary. It
provides the capability for allowing and stopping fluid flow.
The disk is a pressure-retaining part. Disks are typically
forged and, in some designs, hard-surfaced to provide good
wear characteristics. Most valves are named, in part,
according to the design of their disks.

Seat or seal rings

provide the seating surface for the disk. To
improve the wear-resistance of the seal rings, the
surface is often hard-faced by welding and then
machining the contact surface of the seal ring.
Basic Parts of the valve
Internal parts of the valve
Stem
Connects the actuator (hand wheel) and disk, is
responsible for positioning the disk.

 Stem designs fall into four basic categories:

 Rising stem with outside screw
Stem
 Rising stem with inside screw
 Non rising stem with inside screw
 Sliding stem.

Inside Screw Rising Stem (ISRS)

Outside Screw
Inside Screw Non-Rising Stem
Basic Parts of the valve
Actuator (hand wheel)
Operates the stem and disk assembly.
An actuator may be operated manually
or automatically.

Actuator

Packing
It is used to prevent leakage from
the space between the stem and
the bonnet.

Packing
 Valve Selection
Valve Selection Considerations

 1. Pressure.
 5. Operating conditions
 A. Frequency of operation.
 2. Temperature.
 B. Accessibility.
 3. Type of fluid.  C. Overall space/size available.
 A. Liquid.  D. Manual or automated control.
 B. Gas, i.e., steam or air.  E. Need for bubble-tight shut-off.
 C. Dirty or abrasive (erosive)  F. Concerns about body joint leaks.
 D. Corrosive.  G. Fire safe design.
 4. Flow Considerations   H. Speed of closure.
 A. On-off or Throttling.
 C.  Is the valve needed to prevent
 backflow.
 D. Concern for pressure drop.
 E. Velocity.
Valve types

 Globe valve  Diaphragm valve

 Gate valve  Pinch valve
 Plug valve  Check valve
 Ball valve  Safety/relief valve
 Needle valve  Reducing valve
 Butterfly valve