Lecture 8: Motors and Actuators: Working at The Boundary Between EE/CSE/EPE, Mechanical and Materials Engineering
Lecture 8: Motors and Actuators: Working at The Boundary Between EE/CSE/EPE, Mechanical and Materials Engineering
• Automobiles
Windshield Wipers
Door locks
Window lifts
Antenna retractor •Cordless hand drill
Seat adjust •Electric lawnmower
Mirror adjust •Fans
Anti-lock Braking System •Toys
•Electric toothbrush
•Servo Motor
February 5, 202 Introduction to Engineering Electronics 10
4 K. A. Connor
Beakman’s Motor
• This animation demonstrates the principle for a stepper motor using full step
commutation. The rotor of a permanent magnet stepper motor consists of
permanent magnets and the stator has two pairs of windings. Just as the rotor
aligns with one of the stator poles, the second phase is energized. The two
phases alternate on and off and also reverse polarity. There are four steps. One
phase lags the other phase by one step. This is equivalent to one forth of an
electrical cycle or 90°.
• This animation shows the stepping pattern for a half-step stepper motor. The
commutation sequence for a half-step stepper motor has eight steps instead of
four. The main difference is that the second phase is turned on before the first
phase is turned off. Thus, sometimes both phases are energized at the same time.
During the half-steps the rotor is held in between the two full-step positions. A
half-step motor has twice the resolution of a full step motor. It is very popular
for this reason.
• This stepper motor is very simplified. The rotor of a real stepper motor usually
has many poles. The animation has only ten poles, however a real stepper motor
might have a hundred. These are formed using a single magnet mounted inline
with the rotor axis and two pole pieces with many teeth. The teeth are staggered
to produce many poles. The stator poles of a real stepper motor also has many
teeth. The teeth are arranged so that the two phases are still 90° out of phase.
This stepper motor uses permanent magnets. Some stepper motors do not have
magnets and instead use the basic principles of a switched reluctance motor. The
stator is similar but the rotor is composed of a iron laminates.
• The stator windings of an ac induction motor are distributed around the stator
to produce a roughly sinusoidal distribution. When three phase ac voltages are
applied to the stator windings, a rotating magnetic field is produced. The rotor
of an induction motor also consists of windings or more often a copper
squirrel cage imbedded within iron laminates. Only the iron laminates are
shown. An electric current is induced in the rotor bars which also produce a
magnetic field.
• The rotating magnetic field of the stator drags the rotor around. The rotor does
not quite keep up with the the rotating magnetic field of the stator. It falls
behind or slips as the field rotates. In this animation, for every time the
magnetic field rotates, the rotor only makes three fourths of a turn. If you
follow one of the bright green or red rotor teeth with the mouse, you will
notice it change color as it falls behind the rotating field. The slip has been
greatly exaggerated to enable visualization of this concept. A real induction
motor only slips a few percent.
• Rotary motor
• Steam Engine (single piston)