Kasdi Merbah University of Ouargla

Department of Electronics and Telecommunications

Module Industrial actuators
Master 1: Electronics of Embedded Systems

Industrial actuators
ACTIONNEURS INDUSTRIAL

Teacher :Souri
 Course presentation

Actuators are instrumental components enabling automated

systems to execute their programmed tasks or actions, forming the
operational core alongside sensors. These crucial devices find
extensive application not only in industrial instrumentation but also
in contemporary realms such as robotics and medical
instrumentation. Consequently, proficiency in utilizing these
devices is deemed a paramount skill for instrumentation
professionals.
The course titled "Industrial Actuators" introduces students to the
prevalent actuators employed in the industrial sector. The course is
structured into distinct learning modules designed to equip students
with proficiency in essential concepts and principles, the integration of
actuators into electronic systems, and the modeling of actuator
behaviors. It's worth noting that this subject provides introductory
insights into advanced actuator research areas, catering to students
pursuing advanced studies in the third cycle.
The figure below shows the most
common types of actuators and
theirelectrostatic
areas of use
actuators pneumatic and hydraulic
actuators

electric electrostatic
actuators actuators
Industrial
actuators

electronic automobile eating Medical

 The actuators within an automated system supply the effectors with valuable
energy, enhancing the productivity of the working material. These actuators
serve as the pivotal components in the action sequences of automated systems.

place of actuators in the structure of an

automated system
The actuators :
The role of an actuator is to transform input energy into usable output energy to
accomplish a defined action.
 2. ENERGIES :

The output energy is generally of the The input energy is most often of the
type: type:
mechanical electric
but maybe also: pneumatic
thermal hydraulic
bright
sound

They can be expressed as a function of measurable physical quantities:

electrical voltage measured in volts (V),
current intensity measured in ampere (A), pressure measured in pascal (Pa),
flow rate measured in cubic meter per second ((m3.s-1)
force measured in newtons (N),
speed measured in meters per second (m.s-1)
angular velocity measured in radians per second (rad. s-1)
Noticed :
Certain physical quantities are still measured today in units not
belonging to the International System (S.I.), and/or with multiples or
submultiples of S.I. units. It is imperative in this case to convert the
measurements into S.I. units.
 3- Movement Types:

Machine movements perform one or more of the following functions:

 Drive a pump or fan, to move or compress liquids, gases or air;
 Drive a spindle, i.e. a cutting, drilling or machining tool such as a saw, tap,
polishing disc, etc. ;
 grasp an object and hold it while it is being machined or moved;
 Moving an object from one place to another, to store it or put it back into
the circulation circuit
 production, to place it for machining or processing, to package it and
prepare it for delivery, etc. ;
 Each movement can be

 a series of back-and-forth movements limited between two

positions, such as the left and right ends of an X-Y table on a
machine tool ;
 A series of unidirectional movements, often periodic, such as in a
construction conveyor or wire winding.
 Most electric actuators and motors are reversible: they can typically operate in
forward and reverse directions. Additionally, in each direction, they can either
supply energy (act as a motor) or absorb energy (act as a brake). It is said that
they can operate in all four quadrants.
4- Modes of Operation of Actuators
and Motors
a- On/Off Mode

The actuator or motor is connected to a hydraulic or pneumatic power

supply with constant pressure or an electrical power supply with
constant voltage and frequency. Its speed of movement or rotation
depends on its operating principle and the characteristics of its power
supply, as well as the load (friction, machining torque, etc.). When not
powered, it no longer produces any force or torque and can be driven
by the load. Typically, it stops after a more or less extended period due
to friction or suddenly under the action of a mechanical brake.
Modes of Operation of Actuators
and Motors

Examples of On-Off controls: - Hand-operated switch, set of pneumatic solenoid valves,

contactor.
Modes of Operation of Actuators
and Motors
B- Speed-Controlled Mode
By adjusting the hydraulic or pneumatic pressure, electrical voltage, or
frequency, it is possible to continuously modify the speed of an
actuator or motor, at least within a certain range (e.g., from 20% to
100% of the nominal speed). However, the speed still depends to some
extent on the load.

Servovalve and frequency variators

Modes of Operation of Actuators
and Motors
c- Speed-Controlled Mode

In the speed-controlled mode, the operator or the automation program selects

a desired speed value w(t) based on wc(t). The actual speed value w(t) is
measured and provides the feedback signal y(t), which is compared to the
reference value. The difference between these two values is called the control
deviation e(t). The controller works to minimize this deviation by adjusting the
control variable u(t) and, through the power amplifier,

In this mode, the goal is to maintain precise control over the speed of the
system, ensuring that it closely follows the desired reference speed. It is
commonly used in various industrial applications where speed regulation is
critical.
Modes of Operation of Actuators
and Motors
D- Position-Controlled Servomotor Mode

By adding a position sensor to the motor shaft or the moving load, it becomes
possible to achieve precise point-to-point movements and stop the motor at
very accurate positions. This mode also allows for movements that follow
specific trajectories. These trajectories are typically calculated for specific
points that the moving component must pass through without stopping. Such
trajectories can be one-dimensional or multidimensional, as seen in machine
tools, and they can even depend on another motion, simulating cam and
other coupling systems.

This mode is essential for applications that require high precision in positioning,
such as CNC machines and robotics, where exact positioning and controlled
trajectories are critical.
Modes of Operation of Actuators
and Motors
E- Step-by-Step Mode

The step-by-step mode combines the on-off mode with the servomotor mode.
The actuator operates similarly to the on-off mode but is driven by a series of
pulses. With each pulse, it advances a small distance known as a step or
increment. The distance traveled directly depends on the number of pulses
received. The speed is determined by the pulse frequency. Additionally, when
it no longer receives pulses, such an actuator is held in place with a certain
holding force.

This mode of operation is only possible with stepper motors. Step motors are
widely used in applications that require precise control of position and rotation,
such as 3D printers, CNC machines, and robotic systems.
 5- The families of actuators include

 Action devices are essential components responsible for moving

various parts of machinery. They primarily consist of motors and
cylinders, with their main function being the conversion of electrical,
hydraulic, or pneumatic energy into mechanical energy. However,
they are typically controlled by electrical control signals.
Additionally, these action devices may be accompanied by
mechanical couplings and reducers to enhance their performance.
 The families of actuators include:

a- Pneumatic Actuators

Pneumatic actuators are primarily used for simple sequential

movements. They utilize compressed air at approximately 6 bar (87 psi)
and can create linear cylinders capable of exerting forces up to 50,000
N (Newtons). These actuators are typically linear cylinders, but they
can also be rotary motors. Vacuum suction devices are also employed
for grasping objects. They are controlled in an on-off fashion using
distributors that are actuated either mechanically or electrically.
 The families of actuators include:

b- Hydraulic Actuators

Hydraulic actuators are employed for movements that require extremely high
forces at low speeds. Operating with oil under pressures of up to 400 bar, they
are capable of creating cylinders with tremendous force (up to 3,000,000 N,
which is equivalent to 300 metric tons). Their response times are faster than
those of pneumatic systems (typically just a few milliseconds) because oil is
nearly incompressible.

Hydraulic actuators come in the form of linear cylinders or rotary motors. Their
operation is controlled by distributors. They can either be of the on/off type,
functioning similar to switches, or of the proportional type, allowing for the
modulation of oil pressure or flow.
The families of actuators include:
 The families of actuators include:

c-Electric Motors

Electric motors are available in a wide range of power outputs,

spanning from less than 10 milliwatts (mW) to over 100 megawatts
(MW). They are known for their ease of implementation and minimal
wear and tear issues. Electric motors find applications in almost all
rotary movements and a significant portion of linear movements in
machinery and installations.
The choice of drive technology can be
summarized as follows:
 For simple linear movements that are relatively slow and low in
power, pneumatic drives are preferred, mainly due to their cost-
effectiveness.

 For linear movements that require very high forces, hydraulic drives
are favored due to their high energy density, which can reach up to
40 MJ/m3.

 For all other types of movements, electric drives are the preferred
choice. Although they offer a lower energy density of 0.4 MJ/m3,
they are capable of reacting 1,000 times faster than a hydraulic
system, giving them the advantage in terms of power density.
Comparative Performance of Electric, Pneumatic, and Hydraulic Motors
and Actuators