///MMT Single Phase Rotary Actuators Basic Information

1
Also called Limited Angle Torquers or Torque Motors

MM13
EP#0429625
USA#5,298,825
MM18
EP#642704
USA#5,512,871
J apan#03021046
MM22
EP#0558362
USA#5,334,893
J apan#3250860
MM55
FR#2786042
USA#6,313,553
MM91
FR#2849712

Basic Information for Evaluation Purpose
MMT - DA
MMT Technology for
Single Phase Rotary Actuators
Moving Magnet Technologies SA
ZAC Lafayette
1, rue Christiaan Huygens
F-25000 Besanon France
Tel 03 81 41 42 00 International +33 3 81 41 42 00
Fax 03 81 51 83 06 International +33 3 81 51 83 06
///MMT Single Phase Rotary Actuators Basic Information
2
Moving Magnet Technologies S.A
ZAC La Fayette
1, rue Christiaan HUYGENS
F - 25 000 Besanon
: +33 3 81 41 42 00
: +33 3 81 51 83 06
Web : www.movingmagnet.com
///MMT Single Phase Rotary Actuators Basic Information
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SUMMARY
1. MMT proportional actuators 4
1.1 Working principle
4
1.2 Disc magnets embodiments 6
1.2.1 Two poles/ two coils design 6
1.2.2 Two poles / one coil design 7
1.2.3 4 poles designs 8
1.3 Ring magnet embodiments 11
1.3.1 Two poles designs 11
1.3.2 4 poles designs 12
1.4 Tile magnet design MM55 12
1.4.1 MM55 Structure 13
1.4.2 MM55 Working principle 13
1.4.3 Prototype measurement 14

2. MMT bi-stable actuator 16
2.1 MM91 structure
16
2.2 MM91 working principle
16
2.3 MM91 prototype and measurement
18

3. Applications 19
3.1 Automotive engine management
19
3.2 Other automotive applications
20
3.3 Non automotive applications
22

4. Patent situation 23
///MMT Single Phase Rotary Actuators Basic Information
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1.1 Working principle

The principal features of MMTs technology are the following:

A constant torque over the stroke
A reversed torque for a reversed current
A torque proportional to current (proportional actuator)

This drawing explains the basic principle of our technology: a two-pole magnet is placed
between two 3-pole stators, a coil being wrapped around the central pole of each stator.
When the coils are supplied, a varying magnetic field is created between the stators and the
magnet will move in order to align with that field.
The force created that way on the magnet is constant upon the whole useful stroke and is
strictly proportional to current input.
The force created is expressed by:
nI . Z .
E
L
. Br 2 F =

Br is the magnetic remanence of the magnet, L the thickness of the magnet,
E the thickness of the gap, Z the width of the mechanism, nI the number of
Amperes-turns in the coil.

nI is calculated by:

P is the electrical power in the coil and Ro is the coil resistance divided by the coils wire
turns number squared.
Ro
P
nI =
E/2 E/2
Stroke
E
L
Stator
Coil
Magnet
1. MMT proportional actuators
///MMT Single Phase Rotary Actuators Basic Information
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MMT rotary actuators are simply created from that basic design by rolling it around an
axis.
Lets indeed imagine that we do roll the actuator described around X-axis : the magnet
becomes a 2-pole disc one and the motion created is a limited angle rotary one at constant
torque.

Lets now imagine that we roll it around Y-axis : the magnet becomes a ring and the mo-
tion created is also rotary.

That defines the main structures of our rotary actuators that will be presented there: ac-
cording to the structure chosen and to the number of pole pairs used, every torquer user
should find there a efficient, compact and reliable solution for rotary actuation purpose.
X
The datasheet here after provides you with the main characteristics of that family of actua-
tors.
Y
///MMT Single Phase Rotary Actuators Basic Information
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1.2 Disc magnet embodiments
1.2.1 Two poles +two coils designs
Such actuators can be designed to provide strokes up to 150.
The actuator uses at least one bearing, preferably of the axial type in order to withstand
the axial force due to the permanent magnet. Standard actuators use an additional ball
bearing to withstand external forces perpendicular to the shaft. Simple sleeve bearing can
be used if these forces are not too high. The magnet is glued onto a yoke of soft magnetic
material.

Coil
Two-pole magnet
Moving yoke
Stator
Bearing
Axial bearing
T
o
t
a
l

h
y
s
t
e
r
e
s
i
s

110
14
Additional stroke providing a
detent torque to keep the rotor
against the stop
180
0
69 W
44 W
2.77 W
11 W
25 W
Typical measurement curves
///MMT Single Phase Rotary Actuators Basic Information
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Typical sizes and related specifications (R35, R50, R75)
ARPA R35/90 R50/110 R75/110
Stroke () 90 110 110
Rated J oule Power (W 100% duty cycle) 7 13,5 23,5
Duty ratingED (%) 100 40 25 15 5* 100 40 25 15 5* 100 40 25 15 5*
Power consumption (W) 7 15,8 25 38 82 13,5 25,8 49,1 79,8 177 23,5 47 77,1 137 311
Torque (mNm) 33 49,6 62,4 76,9 113 120 166 229 292 434 400 566 725 967 1455
Reference of temperature (C) 20 20 20
Outer diameter (mm) 35 50 75
Length (mm) 28 37 53
Mass (kg) 0,15 0,36 1,2
Inertia (kg.m)
Electrical time constant (ms) 4,5 5,5 7
1,57E-06 1,11E-05 1,10E-04
*
:

d
e
p
e
n
d
a
n
t

o
n

t
h
e

m
a
g
n
e
t

g
r
a
d
e

1.2.2 Two poles +one coil design
Yoke
Axial
ball
bearing
2-pole ring
magnet
Coil
Stator
Compared with previous structure, we have decrease the number of parts, and so simplify the
design. It has to be noticed that with this type of structure, a shaft going through the actuator
is not easily available.
///MMT Single Phase Rotary Actuators Basic Information
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ARPA 2P1B
OD =50


Over-all dimension


OD 50 x h 50

Magnet dimension

OD 50 x ID 23 x
h 3

Magnet remanence Br


1.12 T

Total weight


520g

Torqueconstant

235 mNm/A


Coil resistance

4.25 Ohms


Thermal resistancecoil-air

9.2C/W


Power available@ 125C
During 10 min
Max coil temp: 180C / magnet: 150C



12W

Motor constant @ 25C


115mNm/W
1/2


Motor constant @ 125C


85.5mNm/W
1/2


Torqueavailable@ 125C during 10 min


301 mNm
Availablestroke 90
With this structure, at ambient temperature with 1.4A (8.3W), we generate a torque higher
than 300 mNm on 90 stroke
1.2.3 4 poles designs
For smaller strokes than 90, a structure with more than two stator poles can be imple-
mented. Then, by using more pole pairs, we will get more output torque for a same input
electrical power.
The four-pole structure covers strokes from 30 to 80, the permanent magnet being then
magnetized with four pole-pairs.
For less than 30, the stator can use a six-pole arrangement, the permanent magnet being
magnetized with six-pole pairs. The torque is then 3 times larger than that of the two-pole
structure for the same number of Amperes-turns applied to each coil.
4-pole magnet
Yoke
Shaped pole
Coil
Base
Thrust
bearing
///MMT Single Phase Rotary Actuators Basic Information
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The actuator shown on the figure here above is typical of 4-pole actuators designed for
80 strokes : the pole is made wider at its top in order to increase the useful stroke with-
out loosing any useful place for copper volume.
82
Torque =0.28 Nm @ 10 W Torque =0.28 Nm @ 10W
4-pole rotary actuator
Magnet 42 mm
Outer 50 mm
Detent torque
The typical performances of that kind of actuator are provided in the array here below ac-
cording to the size and power input.
Units 36 42 51
Continuous stall supply power (100% of duty cycle) W 8.4 10 30
Continuous stall torque (100% of duty cycle) mNm 138
(1)
(P=8.4W)
250
(1)
(P=10 W)
800
(2)
(P=30.8W)
Peak supply power W 50 50 60
Peak torque mNm 360 540 1100
Useful stroke 75 75 75
Resistance 2.6 3.1 3
Inductance mH 15 36 22
Overall dimensions mm 54 x 52* 54 x 60* 67 x 57*
Rotor inertia g.cm 57* 155* 345*
Mass g 320* 470* 700*
(* delivered in a plastic housing and integrated position sensor http://www.sonceboz.com/
html/en/products_torque.htm )
(1) Actuator measured in ambient air @ 25C
(2) Actuator measured in a ventilated oven @ 25C
///MMT Single Phase Rotary Actuators Basic Information
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36 42
51
///MMT Single Phase Rotary Actuators Basic Information
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1.3 Ring magnet embodiments
1.3.1 Two poles designs
Strokes over 90 can also be obtained with ring magnet actuators.
The advantages of those structures compared to disc ones are the following:
Stator can be made of laminations : lower cost and more precise solution
Symmetrical structures : forces are equilibrated
Radial air gaps are easier to achieve than axial ones
The disadvantage of that solution is that the magnet is still expensive in such shapes.
ARPA 2-pole, ring magnet rotary actuator
Stroke()
Duty cycle (%) 100 50 20
Power consumption (W) 15 30 75
Torque(Nm) 0,6 0,82 1,3
Referenceof temperature (C)
Resistance(ohms)
Outer dimensions (mm)
Weight (kg) 1,02
140
20
1,5
71*76*42
Such actuator can be realized either with one or two coils according to your specific re-
quirements in terms of output torque, input power and available volume.
Coil
Stator
2-pole magnet
Coil
1 pole pair
ring magnet
Stator stack of
lamination
///MMT Single Phase Rotary Actuators Basic Information
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1.3.2 4 poles design
Coil
Rotary posi-
tion sensor
Laminated stator
Magnet tile
End stop
ARPA 4-pole, ring magnet rotary actuator
Stroke ()
Duty cycle (%) 100 50 20
Power consumption (W) 16 32 80
Torque (Nm) 1,07 1,5 2,4
Reference of temperature (C)
Resistance (ohms)
Outer dimensions (mm)
Weight (kg)
Inertia (kg.m)
Electrical time constant (ms)
2,03
3,60E-05
11,4
32
25
6,4
56 * 62 * 53
Ring multipolar magnet actuators can also be realized. Here below is shown an example
of design for a high torque, low stroke ring magnet rotary actuator.
1.4 Tile magnet design MM55

In order to decrease the magnet volume in this proportional, we have developed a new
structure using only one unipolar tile magnet embedded into the rotor. With this lower cost
structure, we generate a reluctant effect which give a slope to the torque curve as a func-
tion of the position as shown here after.
///MMT Single Phase Rotary Actuators Basic Information
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1.4.1 MM55 Structure
Stator stack
of lamination
Rotor stack
of lamination
Tile magnet
embedded
into the rotor
Coil (copper
wounded on a
plastic bobbin)
1.4.2 MM55 working principle

In MM55, the torque generated is the sum of proportional
torque T
ni
and the reluctant torque T
(ni)
with:




And







With: - B
r
the magnet remanence (T) - R
m
the magnet mean radius (m)
- Z the height of the stack of lamination (m) - nI the current supplied (At)
- L the magnet thickness L=R
3
-R
1
(m) - E the total air gap E=R
4
-R
1
(m)
- e the embedded height e=R
2
-R
1
(m) -
0
air permeability

We can notice that when e=0, T
ni
=0

p
R
1
R
3
R
4
R
2

p
R
1
R
3
R
4
R
2
nI
e E
L
Z R B nI T
m r ni

= =
2
2
2
2
) (
) ( 1 2
) (
) (
2
1
nI
b a ab
b a
Z T
p
o
ni

2
4
ln
R
R
a =
1
4
ln
R
R
b =
///MMT Single Phase Rotary Actuators Basic Information
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Based on these torque formulas, we can plot the following torque vs. position curve for the
MM55 actuator:
We can notice that the higher the current is applied, the higher the reluctant torque is.
Due the physical limitation of the tile magnet we have a stroke limitation around 90 for this
type of actuator.

1.4.3 Prototype measurement
T
ni(1)
Max 90
T
ni(2)
+T
ni(2)
T
ni(2)
T
o
r
q
u
e
Position
T
ni(1)
+T
ni(1)
///MMT Single Phase Rotary Actuators Basic Information
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With this prototype using a magnet mass of 15g. And a remanence of 1T., we generate 300
mNm over stroke with 8W electrical power.

Each of our proportional rotary actuator structures can be adapted to your requirements in
terms of output torque, electrical power input, resistance
We will be pleased to provide you with any further information you need and to recommend
you the kind of actuator that should be suited to your need.
///MMT Single Phase Rotary Actuators Basic Information
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2. MMT bi-stable actuator

On some other application, there is also a need for some stable equilibrium position without
current on the end of stroke. MMT has developed some structures using the interaction
between the magnetic circuit (soft magnetic material) and the permanent magnet to generate
a locking torque on the end of the stroke position. This bi-stable structure is called MM91

2.1 MM91 structure

On the basis of the MM55 proportional structure, MMT has added a specific shape to the
rotor to generate some reluctant effect on the end of the stroke position as show hereafter:

















2.2 MM91 working principle
In the following view, we will the flux lines in MM91 structure during several working
modes in order the understand the specific features of this structure:


-Without current-
STABLE POSITION due to the
magneto-static torque
-Coil supplied against the magnet-
Beginning of the stroke: Important
variation of the magnet flux in the coil
High torque available = UNSTICKING
Quasi-proportional
torque area
Reluctant torque
area
///MMT Single Phase Rotary Actuators Basic Information
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With this MM91 structure, we have the following torque versus position typical curve:
-Suppl ied coil-
In the middle of the stroke :
Torque quasi-proportional to the current
-Coil supplied with the magnet-
End of the stroke : Electro magnet
actuator, important sticking torque
C C
total total
= C = C
ni ni
+ + C C
ni ni
+ C + C
0 0
Due to the coil alone
Due to the
interaction between
coil and magnet
Due to the magnet
alone

0 5 10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 85 90
Posi ti on []
Cni Co Cni
///MMT Single Phase Rotary Actuators Basic Information
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2.3 MM91 prototype and measurement
In order to cancel the radial forces generated in this non-symmetrical structure, MMT has
also worked on the design hereafter:
36.8 mm
48 mm
18 mm (iron)
33 mm (coil)
Magnet weight 3.8 g
Rotor weight 33 g
Stator weight 94 g
Copper weight 39.5 g
Total 170.3 g
-0.2
-0.18
-0.16
-0.14
-0.12
-0.1
-0.08
-0.06
-0.04
-0.02
0
0.02
0.04
0.06
0.08
0.1
0.12
0.14
0.16
0.18
0.2
-45 -40 -35 -30 -25 -20 -15 -10 -5 0 5 10 15 20 25 30 35 40 45
Posit ion [ ]
C
o
u
p
l
e

[
N
m
]
C0 1.9W (0.5A) 4.9W (0.8A) 7.7W (1A) 13W (1.3A)
Valeurs au dcollage (-45)
Unstickingtorque values (-45)
///MMT Single Phase Rotary Actuators Basic Information
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3.1 Automotive Engine Management

In order to withstand the more and more stringent automotive emission regulation (US
EPA07, Euro 5, ) and increasing demand to fuel consumption reduction to counterbalance
the increase in gas price, modern engines requires more and more regulation valves. MMT
rotary actuators are used in a wide range of engine management application for electrical
regulation of these valves as shown hereafter:
3- Applications
Exhaust Gas Recirculation (EGR) valve on diesel
engine
Variable Geometry Turbo (VGT) actuator on
diesel engine
///MMT Single Phase Rotary Actuators Basic Information
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Manifold Vacuum Regulator Valve (MVRV)
actuator on diesel engine
Manifold Tuning Valve (MTV) actuator on
gasoline engine
Electronic Throttle Control (ETC) actuator and sensor
on gasoline engine
///MMT Single Phase Rotary Actuators Basic Information
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3.2 Other automotive applications

Our rotary actuators are also used to generate 2 Nm torque for force feedback in the accel-
erator pedal.
EGR bypass cooling valve actuator
///MMT Single Phase Rotary Actuators Basic Information
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3.3 Non automotive applications
Our rotary actuators are also used for the following applications:
Laser beam deviation
Payment machines
Force feedback gamepad
Mecatronic lock
///MMT Single Phase Rotary Actuators Basic Information
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4-Patent situation
MM13
Actionneur lectromagntique monophas de faible encombrement
(electromagnetic monophase rotary actuator having small overall dimensions)
Priority France J une 16, 1989
French patent granted on October 4, 1991, #FR 2 648 632
PCT application #WO9016107 publicized on December 27th 1990
EP #0429625 (D, UK, FR, E, I, CH, NL) granted on September 6th 1995
J apan patent #180803/99 filed a second time on J une 25, 1999 (iniial filing on J une
15th 1990)
USA patent #5,298,825 granted on March 29,1994.

MM18 (improvement to MM13)
Actionneur lectromagntique monophas rotatif
(electromagnetic monophase rotary actuator)
Priority France December 17, 1990
French patent granted on March 10, 1995, #2670629
PCT application #9211686 of December 16, 1991
EP #0642704 granted August 21st 1996
J apan patent #03021046 granted on March 15th, 2000
USA patent #5,512,871 granted on April 30,1996.

MM22 (actuator arrangement not dependant on MM13, MM18)
Actionneur rotatif lectromagntique monophas de course entre 60 et 120 degrs
(monophase electromagnetic rotary actuator of travel betwenn 60 and 120 degrees)
Priority France February 28, 1992
French patent #2688105 granted on May 6th 1994
Patent filed directly in USA and japan without using the PCT procedure
EP #0558362 ( D, UK, FR, I, CH) granted on August 28th 1996
J apan patent #03250860 granted on November 16, 2001
USA patent #5,334,893 granted on August 2,1994.

MM55
Actionneur avec rotor homopolaire et aimants encastrs dans le fer
(Rotating electromagnetic actuator comprising at least one magnet embedded in ferromag-
netic material)
Priority in France November 13th 1998
French patent #2786042 granted on December 15th 2000
European patent #1001510 (AT, BE, CH, CY, DE, DK, ES, FI, FR, GB, GR, IE, IT,
LI, LU, MC, NL, PT, SE) publicized on May 17th 2000
US patent #6313553 delivered on November 6th 2001
J apan patent #2000152590 publicized on May 30th 2000

MM91
Actionneur rotatif bistable mono-phase hybride
(Hybrid single phase bi-stable rotary actuator)
Priority in France J anuary 7th 2003
French patent #2849712 granted on May 20th 2005
PCT application #WO04066476 for Europe, J apan and USA publicized on October 5th
2004