Electric Drives and Electromechanical Systems: Applications and Control (Paperback)

Table of Contents

1 Electromechanical Systems; 1.1 Principles of automation; 1.2 Machine tools; 1.2.1 Conventional machining processes; 1.2.2 Non-conventional machining; 1.2.3 Machining centres; 1.3 Robots; 1.3.1 Industrial robots; 1.3.2 Robotic hands; 1.3.3 Mobile robotics; 1.3.4 Legged robots; 1.4 Other applications; 1.4.1 Automotive applications; 1.4.2 Aerospace applications; 1.5 Motion-control systems; 1.6 Summary; 2 Analysing a drive system; 2.1 Rotary systems; 2.1.1 Fundamental relationships; 2.1.2 Torque considerations; 2.1.3 Gear ratios; 2.1.4 Acceleration without an external load; 2.1.5 Acceleration with an applied external load; 2.1.6 Accelerating loads with variable inertias; 2.2 Linear systems; 2.3 Friction; 2.4 Motion profiles; 2.5 Assessment of a motor-drive system; 2.5.1 Mechanical compatibility; 2.5.2 Electromagnetic compatibility; 2.5.3 Wiring considerations; 2.5.4 Supply considerations; 2.5.5 Protection from the environment; 2.5.6 Drive hazards and risk; 2.6 Summary; 3 Power transmission and sizing; 3.1 Gearboxes; 3.1.1 Planetary gearbox; 3.1.2 Harmonic gearbox; 3.1.3 Cycloid gearbox ; 3.2 Lead and ball screws; 3.3 Belt drives; 3.4 Bearings; 3.4.1 Conventional bearings; 3.4.2 Air bearings; 3.4.3 Magnetic bearings; 3.5 Couplings; 3.6 Shafts; 3.6.1 Static behaviour of shafts; 3.6.2 Transient behaviour of shafts; 3.7 Linear drives; 3.8 Review of motor-drive sizing; 3.8.1 Continuous duty; 3.8.2 Intermittent duty; 3.8.3 Inability to meet both the speed and the torque requirements; 3.8.4 Linear motor sizing; 3.9 Summary; 4 Velocity and position transducers; 4.1 The performance of measurement systems; 4.1.1 Random errors; 4.1.2 Systematic errors; 4.1.3 Digital-system errors; 4.1.4 Analogue-digital and digital-analogue conversion errors; 4.1.5 Dynamic performance; 4.2 Rotating velocity transducers; 4.2.1 Brushed d.c. tachogenerators; 4.2.2 Brushless d.c. tachogenerators; 4.2.3 Incremental systems; 4.2.4 Electromechanical pulse encoders; 4.3 Position transducers; 4.3.1 Brushed potentiometers; 4.3.2 Linear variable differential transformers - LVDT; 4.3.3 Resolvers; 4.3.4 Rotary and linear Inductosyn; 4.3.5 Optical position sensors; 4.4 Application of position and velocity transducers; 4.4.1 Mechanical installation; 4.4.2 Electrical interconnection; 4.4.3 Determination of datum position; 4.5 Summary; 5 Brushed direct-current motors; 5.1 Review of motor theory; 5.2 Direct-current motors; 5.2.1 Ironless-rotor motors; 5.2.2 Iron-rotor motors; 5.2.3 Torque motors; 5.2.4 Printed-circuit motors; 5.3 Drives for d.c. brushed motors; 5.3.1 Four-quadrant thyristor converters; 5.3.2 Linear amplifiers; 5.3.3 Pulse width modulated servo drives; 5.3.4 Analysis of the bipolar PWM amplifier; 5.3.5 PWM amplifiers; 5.4 Regeneration; 5.5 Summary; 6 Brushless motors and controllers; 6.1 The d.c. brushless motor; 6.1.1 Torque-speed characteristics; 6.1.2 Brushless d.c. motor controllers; 6.2 Sinewave-wound brushless motors; 6.2.1 Torque characteristics; 6.2.2 Voltage characteristics; 6.2.3 Torque-speed characteristics; 6.2.4 Control of sinewave-wound brushless motors; 6.3 Linear motors; 6.4 Summary; 7 Induction motors; 7.1 Induction motor characteristics; 7.2 Scalar control; 7.3 Vector control; 7.3.1 Vector control principles; 7.3.2 Implementation of vector control; 7.3.3 Vector Control using sensors; 7.3.4 Sensorless Vector Control; 7.4 Matrix Converter; 7.5 Summary; 8 Stepper motors; 8.1 Principles of stepper-motor operation; 8.1.1 Multistack variable-reluctance motors; 8.1.2 Single-stack variable-reluctance motors; 8.1.3 Hybrid stepper motors; 8.1.4 Linear stepper motor; 8.1.5 Comparison of motor types; 8.2 Static-position accuracy; 8.3 Torque-speed characteristics; 8.4 Control of stepper motors; 8.4.1 Open-loop control; 8.4.2 Translators and drive circuits; 8.5 Summary; 9 Related motors and actuators; 9.1 Voice Coils; 9.2 Limited-angle torque motors; 9.3 Piezoelectric motors; 9.4 Switched Reluctance motors; 9.5 Shape-memory alloy; 9.6 Summary; 10 Controllers for automation; 10.1 Servo control; 10.1.1 Digital controllers; 10.1.2 Advanced control systems; 10.1.3 Digital signal processors; 10.2 Motion controllers; 10.3 Programmable logic controllers; 10.3.1 Combinational-logic programming; 10.3.2 Sequential-logic programming; 10.4 Networks; 10.4.1 Network architecture; 10.4.2 Industrial networking; 10.4.3 SCADA; 10.5 Summary; Units and Conversion Factors; Bibliography; Index.