Mechatronics

DE ZG516 / DM ZG511

BITS Pilani Lecture 13

Pilani Campus
 BITS Pilani
Pilani Campus

Actuators
Interface Circuits
Interfacing with Arduino Uno
Mechanical vs Electrical Systems

BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

Hydraulic Resistance

Hydraulic resistance (R) is the resistance to flow which occurs as a result of a liquid flowing
through valves or changes in a pipe diameter.
The relationship between the volume rate of flow of liquid ‘q’ through the resistance
element and the resulting pressure difference (p1 - p2) is

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 Hydraulic Capacitance

Hydraulic capacitance is the term used to describe energy storage with a liquid where it is
stored in the form of potential energy. a height of liquid in a container, i.e. a so-called
pressure head, is one form of such a storage. For such a capacitance (C), the rate of change of
volume V in the container, i.e. dV/dt, is equal to the difference between the volumetric rate at
which liquid enters the container q1 and the rate at which it leaves q2 ,

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Hydraulic Inertance

BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

Transmitting Power

Mechanical power transmission: shafts, chains, gears, belts

Electrical power transmission: wires, transformers

Fluid power transmission: liquid of gas in a confined space

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Power Applications

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BITS Pilani, Pilani Campus
BITS Pilani, Pilani Campus
BITS Pilani, Pilani Campus
BITS Pilani, Pilani Campus
BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956
Actuators

• Actuator, in this context, is a device that converts

electrical energy into some form of movement like
vibration, rotation, linear motion etc.
• Example: Muscles in a human body enable movement.
• A component that enables movement.

BITS Pilani, Pilani Campus

Simple Actuator

Piezoelectric Buzzer

Ref: https://www.seeedstudio.com/blog/2020/12/22/introduction-to-buzzers-piezo-and-magnetic-
buzzers/

BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

Interfacing with Arduino Uno

tone()

Generates a square wave of the specified frequency (and 50% duty cycle) on
a pin. A duration can be specified, otherwise the wave continues until a call
to noTone(). The pin can be connected to a piezo buzzer or other speaker to
play tones.

Syntax : tone(pin_number, frequency)

noTone()

Stops the generation of a square wave triggered by tone(). Has no effect if no

tone is being generated.

Syntax : noTone(pin_number)

Ref: https://create.arduino.cc/projecthub/akshayjoseph666/interface-buzzer-with-arduino-uno-
694059

BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

Interfacing with Arduino UNO

Ref: https://create.arduino.cc/projecthub/SURYATEJA/use-a-buzzer-module-piezo-speaker-using-arduino-uno-89df45

BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

Interfacing with Arduino Uno

Ref: https://create.arduino.cc/projecthub/SURYATEJA/use-a-buzzer-module-piezo-speaker-using-arduino-uno-89df45

BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

 Classification of Motors

Motors

Micromotors Macromotors AC Motors DC Motors Continuous Discrete

Synchronous Asynchronous Brushed Brushless

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Working of brushed DC motor

BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

Brushless DC Motor

BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

Voltage Equation of a DC Motor

BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

Power Equation of DC Motor

BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

Efficiency
Electrical Efficiency

Mechanical Efficiency

BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

 Example 1
A DC motor is connected to a source of 150 V, and its armature resistance is 0.75 Ohms. The
armature generates 40 V when running at a speed of 400 rpm. Calculate:

1) The starting current

2) The back e.m.f. when the motor runs at 800 rpm and when running at 1200 rpm
3) The armature current when running at 800 rpm and 1200 rpm

BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

 Example 1
A DC motor is connected to a source of 150 V, and its armature resistance is 0.75 Ohms. The
armature generates 40 V when running at a speed of 400 rpm. Calculate:

1) The starting current

2) The back e.m.f. when the motor runs at 800 rpm and when running at 1200 rpm
3) The armature current when running at 800 rpm and 1200 rpm

1) The starting current is given by:

BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

 Example 1
A DC motor is connected to a source of 150 V, and its armature resistance is 0.75 Ohms. The
armature generates 40 V when running at a speed of 400 rpm. Calculate:

1) The starting current

2) The back e.m.f. when the motor runs at 800 rpm and when running at 1200 rpm
3) The armature current when running at 800 rpm and 1200 rpm

2) The back e.m.f. when the motor runs at 800 rpm and when running at 1200 rpm

Eb1/N1 = Eb2/N2

Therefore, 40 V at 400 rpm  80 V at 800 rpm  120 V at 1200 rpm

BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

 Example 1
A DC motor is connected to a source of 150 V, and its armature resistance is 0.75 Ohms. The
armature generates 40 V when running at a speed of 400 rpm. Calculate:

1) The starting current

2) The back e.m.f. when the motor runs at 800 rpm and when running at 1200 rpm
3) The armature current when running at 800 rpm and 1200 rpm

3) The armature current when running at 800 rpm and 1200 rpm

V = 150V; Eb = 80V @ 800rpm; Ra = 0.75 ohms

BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

Interfacing with Arduino Uno

Ref: https://www.tutorialspoint.com/arduino/arduino_dc_motor.htm

BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

Interfacing with Arduino Uno

Ref: https://www.tutorialspoint.com/arduino/arduino_dc_motor.htm

BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

H-bridge

BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

Interfacing with Arduino Uno

Ref: http://www.learningaboutelectronics.com/Articles/Arduino-microcontroller-H-bridge-
circuit.php
BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956
Interfacing with Arduino Uno

Ref: http://www.learningaboutelectronics.com/Articles/Arduino-microcontroller-H-bridge-
circuit.php
BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956
Stepper Motor

BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

Example 2

A stepper motor has a step angle of 1.25 degrees. Calculate the number of steps for the
shaft to make 10 revolutions.

N = 360 * 10/1.25

BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

Interfacing with Arduino Uno

Ref:
https://www.tutorialspoint.com/arduino/arduino_stepper_motor.htm

Stepper motors require an IC driver.

Example: AMT49700 is a flexible microstepping stepper motor
driver with integrated phase current control, a built-in translator,
and simple motion control.

BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

Interfacing with Arduino Uno

Ref:
https://www.tutorialspoint.com/arduino/arduino_stepper_motor.htm
BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956
Pulse width modulation (PWM)

1 time period

On time Off time

50% duty cycle

1 time period

On time Off time

75% duty cycle

BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

PWM

Duty cycle – Ratio of ON time to time period of the pulse

expressed as %.
If a pulse is ON for 25% of the time, the duty cycle is 25%.

Ref: File:Delta PWM.svg - Wikipedia

BITS Pilani, Pilani Campus

PWM in Arduino UNO

Val = digitalRead(pin)
digtalWrite(pin, HIGH/LOW)

14 Digital Input/Output Pins

6 PWM Pins

analogWrite(pin, 0-255)
6 Analog Input Pins

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When to use PWM?

Examples:
Fading the brightness of an LED
Motor control

Servo motor position

Ref: https://en.wikipedia.org/wiki/Servo_control#/media/File:Servomotor_Timing_Diagram.svg

BITS Pilani, Pilani Campus

Pneumatic Actuators

• Use pressurized air/gas

• Most use compression rates of 80-100 psi
• Fast actuation
• Simple in design and easy to debug
• Cheaper than hydraulic and electrical actuators in
general
• Low mechanical power applications
• Short life cycle compared to hydraulic actuators
• Temperature can easily affect the water content in the
compressed air

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Hydraulic Actuators

• Use pressurized hydraulic oil

• High pressures: 1000 – 5000 psi (typical); >10,000 psi
(special cases)
• Much higher power per unit volume as compared to
pneumatic actuators
• Safe and portable
• High initial costs
• High maintenance compared to pneumatic actuators
• Leakage of hydraulic oil is an issue

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Electric Actuators

• Use electrical energy (DC/AC)

• Fast
• Precise actuation
• Clean (no leakages etc)
• Low mechanical power compared to hydraulics
• Complex design
• Expensive

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4/28/2023 Mechatronics DEZG516/DMZG511 BITS Pilani 45