Page 306 - Electric Drives and Electromechanical Systems
P. 306
Index 305
end effectors, 18e22 S
dexterous end effectors design, 20e21 SaaS. See Software as a Service (SaaS)
power and precision grasp of human SCADA system. See Supervisory control and
hand, 18f data acquisition system (SCADA
whole arm manipulator’s system)
anthropomorphic hand, 20f Scalar control, 187e188, 193e196
industrial, 13e18 Security systems, 22
kinematics, 16 Selective-compliance-assembly robotic arm
mobile and swarm, 22e23 (SCARA), 14
walking robots, 23e25 Semi-absolute optical encoders, 127
Rolling-element bearing, 90 Sensitivity, 109
Root-mean-square (r.m.s.), 98, 102, 105 Sensorless control, 177
Rotary systems, 38e46 vector control, 203e204, 204f
acceleration Sequential-logic programming, 267e270,
with applied external load, 44e45 267fe268f
without external load, 44 Series elastic actuators, 49, 49f
load with variable inertia, 45e46 Servo control, 242e252, 243f
fundamental relationships, 38e42 advanced control systems, 251e252
gear ratios, 42e43 closed-loop controller, 244f, 246f
moment of inertia digital controllers, 248e250
for number of common bodies, feedback control system, 242f
40te41t Laplace and z-transforms, 244t
for solid body, 39f Session layer, 277
rotational elements of motor drive sgn function, 51
system, 38f Shafts, 95e97, 96f
torque considerations, 42 Shannon’s sampling theorem, 113e114
Rotating velocity transducers, 116e119 Shape memory effect, 233e234
brushed d.c. tachogenerators, 116e117 Shape-memory alloy (SMA), 233e235, 235f
brushless d.c. tachogenerators, 117e118 actuator, 234e235
electromechanical pulse encoders, 119 Shunt voltage regulator, 161be162b
incremental systems, 118 Simple gear train, 74e76
Rotational input speed, 85e86 Simulation of drives and controllers,
Rotational output power, 190e191 252e258
Rotor Sinewave-wound brushless motors,
current, 188e189 177e182
encoders, 202e203 control of, 181e182
flux, 204 idealised sinewave-wound permanent
model, 204 magnet machine, 178f
power factor, 189e190 sinewave wound machine controller, 182f
rotor-position measurement, 174e176 torque characteristics, 179e180
winding, 139 torque-speed characteristics, 180e181
RS-232 standard, 273 of sinewave wound machine, 181f
RS-485 standard, 273 voltage characteristics, 180
RTR. See Remote Transmission Request Single-stack variable-reluctance motors,
(RTR) 211e213, 212f
