1. Chapter 3 Actuator Modeling
직류모터(Direct Current Motors)
스텝모터(Stepper Motors)
유압모터(Hydraulic Motors)
압전구동기(Piezoelectric Actuators)

2. 전동기의 기본원리

3. 전동기의 기본원리
직류 전동기의 회전원리

4. 전동기의 기본원리
교류 전동기의 회전원리

5. 전동기의 연속 토크 발생 조건
에너지 변환기기에서 에너지 변환
전동기의 에너지 변환식

7. 전동기 구동 시스템의 구성

8. 직류 전동기의 구성

9. 직류 전동기 원리

12. 직류 전동기 모델링

13. PM-DC Motor 구동기 제어 절차 PM-DC Motor 고정자 : N-S 영구자석 회전자 : 코일
Investigation of Motors to find physical terms
Modeling of Motors to simplify and Simulation
Design of Controller
Apply to the real system
PM-DC Motor 고정자 : N-S 영구자석
회전자 : 코일

14. PM-DC Motor 두 개의 대수 방정식으로 모델링 뉴턴의 제 2법칙 시뮬링크 모델
Figure 3.1 The diagram of a permanent
magnet-DC motor
시뮬링크 모델
Figure 3.2 Free body diagram for the
mechanical part of the DC motor
Figure 3.3 Two-port [(Ur,ia) and (U,i)] circuit
of the electrical part of the DC motor

15. Example: Simulink Model of a PM DC Motor
Figure 3.4 Simulink model of
a PM-DC motor subsystem
Figure 3.4 Simulink model of a PM-DC motor
with DC supply and load

16. Block Diagram Representation
For block diagram representation of linear system, the input-output relationship of each block is derived using the Laplace transform.
PM-DC motor model
Laplace transform for zero initial conditions
! In case of a linear relationship…..
! Now, Think about Input and output signal…….

17. Block Diagram Representation: Example
DC motor Model for stirring the liquid in a tank.
Free body diagram of the load
Figure 3.7 DC motor and an inertial-viscous load
Figure 3.8 Block diagram of the DC motor
with inertial-viscous load

18. Shunt DC Motor Algebraic Equations Model of Motor
Figure 3.10 Free-Body diagram for the
mechanical part of the DC motor
Figure 3.9 A shunt DC motor Diagram
Figure 3.11 Two-port [(Ur,ia) and (U,i)] circuit
of the electrical part of the DC motor

19. Stepper Motors
It has high ration of torque versus size, easy computer control, good performance in open-loop control.
Figure 3.15 Rotor teeth arrangement vertical-
longitudinal (a) and vertical-lateral (b) cross sections
Figure 3.16 Hybrid stepper motor with six rotor
teeth and two-phase stator

20. Stepper Motors Sequence of pulse train make
the rotor spin by one step by step.
Figure 3.17 Time diagram of full-stepping, one-phase
excitation of stator phases
Figure 3.18 Full-stepping, one-phase excitation
of stator phases

21. Stepper Motors Application
Digital output of a pulse train and the direction bit from a PC have to be converted into the required sequence of phase excitations to achieve stepwise rotation of the rotor of the stepper motor.
Figure 3.19 Translator and drive for a stepper motor
PC-based controller
Figure 3.20 Block diagram of DDA(digital differential
analysis) method of generating a pulse train

22. Hydraulic Motors
Hydraulic motors are heavy-duty actuator that can produce high actuating forces for construction machines, airplane direction and attitude control. Machine tools, vehicle steering.
Figure 3.21 Cross section of Medium Duty
Hydraulic Cylinder
Figure 3.22 Open-loop control of a hydraulic actuator
with mass-spring-damper load

23. Hydraulic Motors
The linear model of the open-loop control of a hydraulic actuator with mass-spring-damper load can be obtained using the linearized equations of the valve, cylinder, and load.
Valve model
Hydraulic piston-cylinder
actuator model
Load
Figure 3.23 Block diagram of a hydraulic actuator with mass-spring-damper load

24. Piezoelectric Actuators
Piezoelectric Actuator produce a mechanical deformation when a material is subject to electric charge.
Figure 3.24 Piezoelectric effect used for actuators