D2.1 Requirements and Specification - CORBYS

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D2.1 Requirements and Specification motors. An example of a smart fluidic actuator is the Rotary Elastic Chambers – Actuator developed at IAT in Bremen. The modules comprise very few fully integrated components with matched mechanical and electrical interfaces: fluidic vane motor, sensors, control elements, as well as an electronic unit and control algorithms. Figure 36: Rotary Elastic Chambers – Actuator (IAT Bremen) With integrated control unit 144 Figure 37: Flexible Fluidic actuator (AIA KIT, Karlsruhe) Shows the working principle of the vane motor Another fluidic actuator principle has been presented by Festo AG. The “fluidic muscle” provides a linear type of actuation, but does not include a control unit within the actuator. Other smart actuator solutions are mostly based on electromagnetic motors. The motor techniques used here are stepper motors, brushed DC motors and permanent magnet synchronous motors. Dimensioning an appropriate electromagnetic motor for a given application influences the choice of the motor technique. The most important criteria are housing size, weight, scalability, price, delivery standards but also costs resulting from motor control electronics and software. Depending on the motor choice the expenditure on drive control can be very different. Therefore some advantages and disadvantages of the named motors techniques are explained. It must be considered that smart actuators in most cases are also being used for measurement of actual data like position, speed, temperature and motor current. 14.2.1 DC motor Until some years ago mechanically commutated DC motors had been used for highly dynamical servo drives. The negative features of this motor technique are based on the principle design where the rotating coil is centred inside the motor housing and heat is unable to dissipate appropriately. In addition the mechanical commutation limits the stall current but also the current at higher rotation speed because of brush fire. Low cost DC motors have limited life time because of brush wear. Brush fire can cause high frequency noise causing trouble in the power supply of other components connected. 14.2.2 Stepper motor Stepper motors are an inexpensive alternative for small power drives (
D2.1 Requirements and Specification motor for the application planned. 14.2.3 Permanent magnet synchronous motor In applications with small and medium power drives permanent magnet synchronous motors (PMSM) have replaced standard DC motors today. This is due to the advantages PMSM provide, e.g. service free, high torque and overload capacity because of the missing mechanical commutation. In addition PMSM are better able to dissipate heat since the stator windings are oriented to the housing. This results in a high ratio of torque to housing size. On the other hand motor control for PMSM is highly complex and expensive. 14.3 Control techniques, Interfacing, standardised drive modules The control techniques for electromagnetic motors have been widely discussed in science. Vector modulation is the state of the art for PMSM making precise motor current control possible. The available feedback systems are based on incremental encoders or resolvers. Absolute encoders have been widely introduced, but are not available as standard components for small sized drives yet. Most smart actuator solutions are based on simple two-wire bus communication such as the CAN bus, Profibus or other field bus systems. Recently Ethernet based smart actuators have been presented. In order to provide real time interfacing new transport layer protocols have been introduced according to the OSI/ISO layer model, e.g. Ethercat, Ethernet/IP, Profinet or SercosIII. Figure 38: Dynamixel smart actuators including reduction gear, controller, motor and driver The power supply in most cases is based on DC power (typically 24VDC), because most smart actuators have been optimised for small dimensions not allowing for voltage conversion. Some of the smart actuator products follow a modular approach by standardising flange sizes, torque capacity, electrical interfacing and controls. A modular system is scalable and provides an easier way to extend the application for further use or reuse of the actuators and sensors for new applications. 145
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CORBYS Cognitive Control Framework
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D2.1 Requirements and Specification
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D2.1 Requirements and Specification - CORBYS

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