THE
`MECHATRONICS
`H A N D B O O K
`
`Sleep Number Corp.
`EXHIBIT 2024
`IPR2019-00514
`Page 1
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`

`

`The Electrical Engineering Handbook Series
`
`Series Editor
`Richard C. Dorf
`University of California, Davis
`
`Titles Included in the Series
`The Avionics Handbook, Cary R. Spitzer
`The Biomedical Engineering Handbook, 2nd Edition, Joseph D. Bronzino
`The Circuits and Filters Handbook, Wai-Kai Chen
`The Communications Handbook, Jerry D. Gibson
`The Control Handbook, William S. Levine
`The Digital Signal Processing Handbook, Vijay K. Madisetti & Douglas Williams
`The Electrical Engineering Handbook, 2nd Edition, Richard C. Dorf
`The Electric Power Engineering Handbook, Leo L. Grigsby
`The Electronics Handbook, Jerry C. Whitaker
`The Engineering Handbook, Richard C. Dorf
`The Handbook of Formulas and Tables for Signal Processing, Alexander D. Poularikas
`The Industrial Electronics Handbook, J. David Irwin
`The Measurement, Instrumentation, and Sensors Handbook, John G. Webster
`The Mechanical Systems Design Handbook, Osita D.I. Nwokah and Yidirim Hurmuzlu
`The RF and Microwave Handbook, Mike Golio
`The Mobile Communications Handbook, 2nd Edition, Jerry D. Gibson
`The Ocean Engineering Handbook, Ferial El-Hawary
`The Technology Management Handbook, Richard C. Dorf
`The Transforms and Applications Handbook, 2nd Edition, Alexander D. Poularikas
`The VLSI Handbook, Wai-Kai Chen
`The Mechatronics Handbook, Robert H. Bishop
`The Computer Engineering Handbook, Vojin G. Oklobdzija
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`Forthcoming Titles
`The Circuits and Filters Handbook, 2nd Edition, Wai-Kai Chen
`The Handbook of Ad hoc Wireless Networks, Mohammad Ilyas
`The Handbook of Optical Communication Networks, Mohammad Ilyas
`The Handbook of Nanoscience, Engineering, and Technology, William A. Goddard,
`Donald W. Brenner, Sergey E. Lyshevski, and Gerald J. Iafrate
`The Communications Handbook, 2nd Edition, Jerry Gibson
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`THE
`MECHATRONICS
`H A N D B O O K
`
`E d i t o r - i n - C h i e f
`R o b e r t H . B i s h o p
`The University of Texas at Austin
`Austin, Texas
`
`CRC PR E S S
`Boca Raton London New York Washington, D.C.
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`0066 disclaimer Page 1 Friday, January 18, 2002 3:07 PM
`
`This reference text is published in cooperation with ISA Press, the publishing division of ISA–The Instrumentation, Systems,
`and Automation Society. ISA is an international, nonprofit, technical organization that fosters advancement in the theory,
`design, manufacture, and use of sensors, instruments, computers, and systems for measurement and control in a wide variety
`of applications. For more information, visit www.isa.org or call (919) 549-8411.
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`0066_Frame_C20 Page 6 Wednesday, January 9, 2002 5:41 PM
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`20-6
`
`The Mechatronics Handbook
`
`FIGURE 20.9
`
`Assorts of solenoid actuators. (Courtesy of Shih Hsing Industrial Co., Ltd.)
`
`FIGURE 20.10
`
`A typical solenoid.
`
`Solenoid Type Devices
`Solenoids, see Fig. 20.9, is the simplest electromagnetic actuators that are used in linear as well as rotary
`actuations for valves, switches, and relays. As the name indicates, a solenoid consists of a stationary iron
`frame (stator), a coil (solenoid), and a ferromagnetic plunger (armature) in the center of the coil, see
`Fig. 20.10.
`As the coil is energized, a magnetic field is induced inside the coil. The movable plunger moves to
`increase the flux linkage by closing the air gap between the plunger and the stationary frame. The magnetic
`force generated is approximately proportional to the square of the applied current
`
`i and is inverse
`δ
`proportional to the square of the air gap
`, which is the stroke of the solenoid, i.e.,
`
`F
`
`i2
`δ2----∝
`
`(20.9)
`
`As shown in Fig. 20.11, for strokes less than 0.060 in., the flat face plunger is recommended with a
`°
`pull or push force three to five times greater than 60
` plungers. For longer strokes up to 0.750 in., the
`°
`60
` plunger offers the greatest advantage over the flat face plunger. When the coil is de-energized, the
`field decreases and the plunger will return to the original location either by the load itself or through a
`return spring.
`All linear solenoids basically pull the plunger into the coil when energized. Push-type solenoids are
`implemented by extending the plunger through a hole in the back-stop, see Fig. 20.12. Therefore, when
`energized, the plunger is still pulled into the coil, but the extended producing a pushing motion from
`the back end of the solenoid. Return motion, upon de-energizing the coil, is provided by the load itself
`(i.e., the weight of the load) and/or by a return spring, which can be provided as an integral part of the
`solenoid assembly.
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`0066_Frame_C20 Page 7 Wednesday, January 9, 2002 5:41 PM
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`Actuators
`
`20-7
`
`FIGURE 20.11 Typical force-stroke curve of solenoids. (Courtesy of Magnetic Sensor Systems.)
`
`FIGURE 20.12 Push and pull type solenoids. (Courtesy of Ledex® & Dormeyer® Products.)
`
`FIGURE 20.13 Rotary solenoid. (Courtesy of Ledex® & Dormeyer® Products.)
`
`Rotary solenoids utilize ball bearings that travel down inclined raceways to convert linear motion to
`rotary motion. When the coil is energized, the plunger assembly is pulled towards the stator and rotated
`through an arc determined by the coining of the raceways, see Fig. 20.13. An electromechanical relay (EMR)
`is a device that utilizes a solenoid to close or open a mechanical contact (switch) between high power
`electrical leads. A relay performs the same function as a power transistor in that relatively small electrical
`energy is used to switch a large amount of currents. The difference is that a relay has the capability of
`controlling much larger current level. Variations on this mechanism are possible: some relays have
`multiple contacts, some are encapsulated, some have built-in circuits that delay contact closure after
`actuation, and some, as in early telephone circuits, advance through a series of positions step by step, as
`they are energized and de-energized.
`Design/Selection Considerations. Force, stroke, temperature, and duty cycle are the four major design/
`selection considerations for solenoids. A linear solenoid can provide up to 30 lb of force from a unit
`21/4
`less than
` in. long. A rotary solenoid can provide well over 100 lb of torque from a unit also less than
`21/4
` in. long. As shown in Fig. 20.11, the relationship between force and stroke can be modified by
`changing the design of some internal components. Higher performance, e.g., force output, can be
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`20-8
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`The Mechatronics Handbook
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`TABLE 20.1 Temprature Rating For Electrical Insulations
`
`Insulation Classification
`
`Class A
`Class E
`Class B
`Class F
`Class H
`Class N
`
`Class 105
`Class 120
`Class 130
`Class 155
`Class 180
`Class 200
`
`Temperature Rating
`105°C
`221°F
`120°C
`248°F
`130°C
`266°F
`155°C
`311°F
`180°C
`356°F
`200°C
`392°F
`
`FIGURE 20.14 Voice-coil motor.
`
`achieved by increasing the current to the coil winding. However, higher current tends to increase the
`winding temperature. As the winding temperature increases, the wire resistance increases. This will
`reduce the output force level. Solenoids are often rated as operating under continuous duty cycle or
`intermittent duty cycle. A solenoid rated for 100% duty cycle may be energized at its rated voltage
`continuously because its total coil temperature will not exceed maximum allowable ratings, while an
`intermittent duty cycle solenoid has an associated allowable “on” time which must not be exceeded.
`Intermittent duty coils provide considerably higher forces than continuous duty solenoids. The maxi-
`mum operating temperature for a solenoid is determined by the rated temperature of the insulation
`material used in the winding (see Table 20.1).
`
`Voice-Coil Motors (VCMs)
`As the name indicates, the voice-coil motor was originally developed for loudspeakers. It is now extensively
`used in moving read/write heads in hard disk drives. Since the coil is in motion, VCM is also referred to
`as a moving-coil actuator. The VCM consists of a moving coil (armature) in a gap and a permanent magnet
`(stator) that provides the magnetic field in the gap, see Fig. 20.14. When current flows through the coil,
`based on the Lorentz law, the coil experiences electromagnetic (Lorentz) force F
`
`B×=
`i
`
`F
`
`Since most voice-coils are designed so that the flux is perpendicular to the current direction, the resultant
`Lorentz force can be written as
`
`FVCM
`
`=
`
`γBNl
`
`i⋅
`
`=
`
`⇒⋅
`i
`
`KF
`
`FVCM
`
`i∝
`
`(20.10)
`
`where l is the coil length per turn, B is the flux density, N is the number of turns in the coil, i is the
`current, and γ is a coil utilization factor. It is important to know that the force is proportional to the
`applied current amplitude and the proportional constant KF is often called the force constant.
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