Designing for efficiency
Motion systems convert energy from one mode or form to another. In the process, some energy is rendered unusable. Here we explore how to minimize waste.
One way to avoid vibrations while still using aggressive profiles is a method called input shaping. "The original motion profile is convolved with impulse functions separated in time to form the shaped profile," says Kramer. "Impulse functions are calculated based on the vibration frequencies." This method improves efficiency and throughput because it eliminates settling dwells, while allowing more aggressive motion profiles. It also improves efficiency because the shaped profile has very little energy at the system's natural frequencies.
Kramer also suggests using fieldoriented control, space vector technology, and power-factor correction techniques. "Field-oriented control maximizes the ratio between motor force (torque) and current. In effect, it maximizes dynamic performance, while consuming less current. Spacevector technology, on the other hand, utilizes 100% of the bus voltage. Standard modulation techniques, by contrast, use only 86%, reducing efficiency as well as the maximum achievable velocity."
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Friction ——
good and bad There is one caveat, however. Backdriving occurs when the lead angle
tangent exceeds the coefficient of friction at the thread interface. Because
ballscrew assemblies have a friction coefficient very close to zero, they
tend to backdrive under almost any load in vertical applications. In other
words, less resistance to motion means they're pulled by gravity out of
position. Backdriving on a ballscrew can be prevented with a brake on
the screw or motor — useful if the additional cost of a brake is
worth the efficiency gained with ballscrews. More often, however, leadscrews are better suited for vertical applications.
Unlike ballscrews, leadscrews have distinct friction, which is also variable
by design. "Think of a block and a sphere on a flat surface," says Tom
Solon of Kerk Motion Products Inc., Hollis, N.H. "Any inclination causes
spheres to roll, but blocks remain stationary until the surface is inclined
such that the forces parallel to the surface exceed the friction forces,"
Solon explains. In this case, the lower efficiency of leadscrews actually
prevents them from backdriving — so they can function as self-locking
mechanisms. |
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Gear up with synthetics Synthetic polyglycol-based lubricants (PAGs) are especially beneficial
for gears. "Gears operating with PAGs experience less friction because
of the lubricant's engineered viscosity and high molecular weight," says
Lesinski. Synthetics also reduce temperature and change-out frequency
while preventing rust and corrosion. "The cling properties of nonasphaltic
synthetic lubricants help form a protective coating that actually cools
equipment," Lesinski explains. Lubricants with an appropriate balance of base oil and additive reduce power consumption most. Some include antioxidants or extreme pressure additives for components that must withstand heavy loads. Outdoor machinery in colder climates often run at -25° to -50°C or lower. The low viscosity and pour point of synthetics are especially beneficial to such machinery because it improves pumpability. "On cylindrical gears, PAG and polyalphaolefin oils in particular exhibit less churning losses at low temperatures and less gear erosion, reducing costly maintenance," says Lesinski. Other benefits include reduced start-up torque and lower current draw. |
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