Introduction & Overview
Learning goals. The role of electromechanical drives in mechatronic positioning systems. Some application examples as preview of the course subjects with a little recap of METRON 1,2.
'Working with' Electricity and Magnetism
Maxwell Equations and Lorentz Force. Ohm’s and Hopkinson’s law: Electric and magnetic modeling with “circuits” consisting of sources, resistances/reluctances, permanent magnets and ferromagnetic parts.
Power electronics for actuation
Basic analogue power electronics. Semiconductors, Switching diodes, Power transistors and MOSFETS, Linear and Switching electric power conversion. Energy flow in two directions.
Electromagnetic actuators and electromotors
Recap Day1. Basic terms and properties of electromotors and actuators, efficiency, thermal dissipation, performance figures of merit.
Lorentz actuators and related electronics
Flux linkage vs Lorentz law. Force vs position dependency, current density, dynamic stiffness, damping, current control. Multi DOF actuation. Electrical properties, impact of actuator self-inductance. Amplifier - actuator matching, jerk and snap. Design issues with current amplifiers. Current noise.
Reluctance actuators and related electronics
Non-linear force, magnetic energy, force of magnetic field, linearization by balancing and feedback. Flux control, permanent magnet biasing, Fast Tool actuator, Magnetic Bearings.
Examples of real motors and actuators
Recap Day 2. Mechanical and electronic commutation. Standard rotating motors. Practical issues. Amplifier-actuator interaction demonstrated on real hardware. Drive control in the first successful hybrid car (Toyota): A useful side effect of current control.
Recent drive system developments
Commutated systems, long stroke actuators, phi-z actuator, planar motor concepts, parasitic phenomena (cogging and end effects), wireless energy transfer.
Wrap-up and closure
Language: Dutch or English (depending on the participants).