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Brushless DC Actuator Product Literature
and Design Guidelines
Innovative Solutions, Quality HardwareUnpara!eled Service
Introduc)on Avior Control Technologies, Inc is a full service custom motor and moHon control house, specifically servicing space, high vacuum and extreme-‐environment, high reliability industries.
With over three decades experience in the Aerospace MoHon Control industry, Avior’s engineers have introduced a line of motors, sensors and gearing that have evolved beyond other products available in this market. Materials, processes and design concepts are standardized for extreme vacuum space environment. Available contract services include detailed dimensional worst case analysis for each product, SolidWorks 3D model, detailed project Schedule, statused weekly and communicated to the customer monthly. Structural and thermal modeling reports are also available deliverables.
In addiHon to the state-‐of-‐the-‐art products, Avior engineers are recognized a leaders in the industry in innovaHve moHon control concepts and new technolo-‐gies. Currently under development are drive control techniques that significantly increase performance, power output and efficiency of convenHonal stepper drive systems. Another major development we have prototyped is a controllable deployment system. This system will allow for synchronous controlled de-‐ployment and is insensiHve to temperature delta. Ideal mulHple hinged deployment systems. This concept offers increased flexibility and less staHc fricHon when compared to Eddy Current Damper technologies, and significantly higher reliability when compared to fluid damper systems. Contact Avior’s engineering department for more informaHon about our development acHviHes.
Avior’s quality control system is compliant with ISO 9110 and AS9100 C. Avior is commi[ed to providing high quality and high values products to our customers, delivering on-‐Hme and conHnuously improving.
Avior Controls has developed a family of Brushless DC Motors with extremely trapezoidal back-‐emf. Av-‐ior refers to this proprietary motor winding configuraHon as our "Smooth-‐Trap" line of Brushless DC Mo-‐tors. Recorded torque ripple of ±3% has been confirmed while trapezoidally driven. The scope-‐trace shown to the right shows two legs of a three phase Brushless DC Motor. The resultant torque ripple is so low, it rivals sinusoidal performance, with a simpler commutaHon requirements.
Other benefits of this industry-‐leading performance include higher operaHonal efficiency and lower mean current draw requirements. AddiHonally, the Motor Constant, or torque per square root wa[, is higher than compeHtors performance in the comparable motor frame size, further resulHng in increased operaHonal efficiencies. The "Smooth-‐Trap" line of motor performance is reflected in this catalog.
C Actuator Performance........................................................................9
D Actuator Performance Data.............................................................10
F Actuator Performance Data..............................................................11
G Actuator Performance Data.............................................................12
Phasing SchemaHc and Resolver Data ................................................13
Materials, Processes and Environments..............................................14
Table of Contents
F-‐N80S-‐01 Brushless DC Actuators forSolar Array Deployment
D-‐N10S-‐01 Brushless DC Actuators for Space StaHon Experiment
Note: The performance data tabulated herein represents some typical motor windings, gear raHos and mounHng configuraHons. Other per-‐formance characterisHcs and mounHng configuraHons are available on request.
Contact Avior for B, H, J and M Actuator performance data.
T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C ) T A B L E 1 -‐ M O T O R D A T A ( + 2 5 º C )
P A R A M E T E R ( U N I T S ) U N I T S S Y M B O LM O T O R T Y P EM O T O R T Y P EM O T O R T Y P EM O T O R T Y P EM O T O R T Y P EM O T O R T Y P EM O T O R T Y P EM O T O R T Y P E
P A R A M E T E R ( U N I T S ) U N I T S S Y M B O LB C D F G H J M
Maximum Recommended Motor Velocity RPM ωmax 25,000 25,000 20,000 17,500 15,000 12,500 10,000 7,500
Notes: 1. ConHnuous torque and mechanical power output dependent on thermal consideraHons. 2. Performance is approximate and subject to change without noHce. 3. Maximum raHngs for torque, velocity and mechanical power output not necessarily simultaneous.
TABLE 2 -‐ ACTUATOR MECHANICAL D IMENSIONS & PERFORMANCE -‐ +25º C UNIT TEMPERATURETABLE 2 -‐ ACTUATOR MECHANICAL D IMENSIONS & PERFORMANCE -‐ +25º C UNIT TEMPERATURETABLE 2 -‐ ACTUATOR MECHANICAL D IMENSIONS & PERFORMANCE -‐ +25º C UNIT TEMPERATURETABLE 2 -‐ ACTUATOR MECHANICAL D IMENSIONS & PERFORMANCE -‐ +25º C UNIT TEMPERATURETABLE 2 -‐ ACTUATOR MECHANICAL D IMENSIONS & PERFORMANCE -‐ +25º C UNIT TEMPERATURETABLE 2 -‐ ACTUATOR MECHANICAL D IMENSIONS & PERFORMANCE -‐ +25º C UNIT TEMPERATURETABLE 2 -‐ ACTUATOR MECHANICAL D IMENSIONS & PERFORMANCE -‐ +25º C UNIT TEMPERATURETABLE 2 -‐ ACTUATOR MECHANICAL D IMENSIONS & PERFORMANCE -‐ +25º C UNIT TEMPERATURETABLE 2 -‐ ACTUATOR MECHANICAL D IMENSIONS & PERFORMANCE -‐ +25º C UNIT TEMPERATURETABLE 2 -‐ ACTUATOR MECHANICAL D IMENSIONS & PERFORMANCE -‐ +25º C UNIT TEMPERATURETABLE 2 -‐ ACTUATOR MECHANICAL D IMENSIONS & PERFORMANCE -‐ +25º C UNIT TEMPERATURETABLE 2 -‐ ACTUATOR MECHANICAL D IMENSIONS & PERFORMANCE -‐ +25º C UNIT TEMPERATURETABLE 2 -‐ ACTUATOR MECHANICAL D IMENSIONS & PERFORMANCE -‐ +25º C UNIT TEMPERATURETABLE 2 -‐ ACTUATOR MECHANICAL D IMENSIONS & PERFORMANCE -‐ +25º C UNIT TEMPERATURETABLE 2 -‐ ACTUATOR MECHANICAL D IMENSIONS & PERFORMANCE -‐ +25º C UNIT TEMPERATURE
TYPEPEAK
TORQUE
TYPICAL CONTINUOUS TORQUE
A B C D E F G H J L MASS THERMAL CONSTANTTYPE
LBF-‐IN LBF-‐IN INCHESINCHESINCHESINCHESINCHESINCHESINCHESINCHESINCHESINCHES LBM ºC / WATT LOSS
Notes for Table 2: 1. Thermal constant at atmospheric condiHons at sea level while mounted on a 6” x 6” x 0.25” black anodized aluminum plate. 2. Data is approximate and subject to change without noHce. 3. “Typical” ConHnuous Torque and Power Output dependent on operaHng environments and thermal consideraHons. 4. Contact Avior for addiHonal motor type opHons.
PROPRIETARY AND CONFIDENTIALTHE INFORMATION CONTAINED IN THISDRAWING IS THE SOLE PROPERTY OFAVIOR CONTROL TECHNOLOGIES, INC. ANY REPRODUCTION IN PART OR AS A WHOLEWITHOUT THE WRITTEN PERMISSION OF AVIOR CONTROL TECHNOLOGIES, INC IS
CAGE 6GST1
Figure 1 -‐ Interface Control DrawingSee Table 2 for Tabulated Dimensions
High Performance Planetary Gearboxes Avior’s high efficiency planetary gearing modules feature high grade materials, precision machining tolerances, fully preloaded ball bear-‐ing arrangements and criHcal process. These design features help contribute to the industries premium performance gearing modules. Avior’s criHcal gearbox parts are inventoried in blank form so that customizaHon may be accommodated with responsive service, with-‐out compromising the integrity of the hardware.
Our selecHon of MSFC-‐SPEC-‐522, Table I Mate-‐rials assures resistance to Stress Corrosion Cracking, and speeds the process during re-‐views. Avior may pro-‐vide low outgassing space qualified lubrica-‐Hon systems complain-‐
ant with JSC-‐SPEC-‐SPR-‐0022 (<0.1% CVCM, <1% TML). Cleaning, parHcle counts and applicaHon of barrier film migraHon inhibitor are standard processes for applicaHons used in a space environment.
Our fully preloaded ball bearing arrangements for the planetary cage carrier bearings as well as the the bearing arrangement on each of
the planetary gears provides full bearing rolling element contact with no “bouncing balls” during launch. These features significantly in-‐creases efficiency, reliability, radial load capacity and life of the criH-‐cal gearbox components, while reducing backlash.
The actuator to the ley is a high performance Brushless DC Motor with a three stage Right Angle Drive Element. High Ca-‐pacity Planetary gear-‐boxes are uHlized on the High and Low Speed Modules, and the criHcal right angle conversion is at the opHmum raHo of
torque and speed. No canHlevered gears are used in this design. Ad-‐diHonally, a 20 bit Integral Encoder is imbedded in this compact de-‐sign. The Encoder is coupled directly to the output shay with no in-‐termediate couplings. This is one example of the flexibility, innova-‐Hon and reliability of Avior’s modular design concept.
Table 3 delineates Avior’s Standard Planetary Gearbox Performance Data.
Notes: 1. ConHnuous torque raHngs dependent on gear raHo, lubricaHon system, output velociHes, operaHng condiHons and life requirements. For iniHal esHmates of
conHnuous torque raHngs, 50% of the intermi[ent raHng is reasonable iniHal assumpHon. Contact Avior’s engineering department for a detailed conHnuous torque raHng assessment.
2. Torsional sHffness dependent on output shay configuraHon and gear raHo. 3. OperaHng efficiencies approximately 95% per stage of gearing. OperaHonal velocity and torque levels have an affect on efficiency. 4. Tighter backlash opHon is available. 5. In-‐line or right angle drives are available in each gearbox frame size. Contact Avior’s Engineering Department for Right-‐Angle Drive ICD informaHon. 6. Dry-‐film lubricaHon available for temperature extreme applicaHons. 7. Gearbox data is approximate. Data subject to change without noHce. 8. Output shay configuraHon is customized for each applicaHon.
TABLE 4 -‐ C ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 4 -‐ C ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 4 -‐ C ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 4 -‐ C ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 4 -‐ C ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 4 -‐ C ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 4 -‐ C ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 4 -‐ C ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 4 -‐ C ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 4 -‐ C ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 4 -‐ C ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 4 -‐ C ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 4 -‐ C ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE)
TABLE 5 -‐ D ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 5 -‐ D ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 5 -‐ D ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 5 -‐ D ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 5 -‐ D ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 5 -‐ D ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 5 -‐ D ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 5 -‐ D ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 5 -‐ D ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 5 -‐ D ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 5 -‐ D ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 5 -‐ D ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 5 -‐ D ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE)
TABLE 6 -‐ F ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 6 -‐ F ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 6 -‐ F ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 6 -‐ F ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 6 -‐ F ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 6 -‐ F ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 6 -‐ F ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 6 -‐ F ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 6 -‐ F ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 6 -‐ F ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 6 -‐ F ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 6 -‐ F ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE) TABLE 6 -‐ F ACTUATOR PERFORMANCE (+25º C UNIT TEMPERATURE)
Note: Other performance characterisHcs are available on requestNote: Other performance characterisHcs are available on requestNote: Other performance characterisHcs are available on request
TABL E 7 -‐ G ACTUATOR P ER FORMANCE (+25º C UN I T T EMPERATURE ) TABL E 7 -‐ G ACTUATOR P ER FORMANCE (+25º C UN I T T EMPERATURE ) TABL E 7 -‐ G ACTUATOR P ER FORMANCE (+25º C UN I T T EMPERATURE ) TABL E 7 -‐ G ACTUATOR P ER FORMANCE (+25º C UN I T T EMPERATURE ) TABL E 7 -‐ G ACTUATOR P ER FORMANCE (+25º C UN I T T EMPERATURE ) TABL E 7 -‐ G ACTUATOR P ER FORMANCE (+25º C UN I T T EMPERATURE ) TABL E 7 -‐ G ACTUATOR P ER FORMANCE (+25º C UN I T T EMPERATURE ) TABL E 7 -‐ G ACTUATOR P ER FORMANCE (+25º C UN I T T EMPERATURE ) TABL E 7 -‐ G ACTUATOR P ER FORMANCE (+25º C UN I T T EMPERATURE ) TABL E 7 -‐ G ACTUATOR P ER FORMANCE (+25º C UN I T T EMPERATURE ) TABL E 7 -‐ G ACTUATOR P ER FORMANCE (+25º C UN I T T EMPERATURE ) TABL E 7 -‐ G ACTUATOR P ER FORMANCE (+25º C UN I T T EMPERATURE ) TABL E 7 -‐ G ACTUATOR P ER FORMANCE (+25º C UN I T T EMPERATURE )
ACTUATOR
T YP ER EDUN-‐DANCY
G EAR
RAT IO
I CD TORQUE
CONSTANT
W I ND ING
R E S I S TANCE
NO LOAD
SPE ED @
22 VDC
P EAK P EAK P EAK “T YP I CA L” CONT INUOUS “T YP I CA L” CONT INUOUS “T YP I CA L” CONT INUOUS
ACTUATOR
T YP ER EDUN-‐DANCY
G EAR
RAT IO
I CD TORQUE
CONSTANT
W I ND ING
R E S I S TANCE
NO LOAD
SPE ED @
22 VDC TORQUE @
SPE EDPOWER
OUTPUTTORQUE @ SPE ED
POWER
OUTPUT
ACTUATOR
T YP ER EDUN-‐DANCY
G EAR
RAT IO
S E E PG 4 LBF -‐ IN /AMP OHMS RPM LBF -‐ IN RPM WATT S LBF -‐ IN RPM WATT S
Figure 3 -‐ Back EMF PhasingWhile the actuator is being back-‐driven in the CCW direcHon, the phasing of the back EMF Phase A+, B-‐ Leads Phase C+, B-‐.
TABLE 8 - COMMUTATION RESOLVER PERFORMANCE DATA
DATA AT 25 C, UNLESS NOTED
TABLE 8 - COMMUTATION RESOLVER PERFORMANCE DATA
DATA AT 25 C, UNLESS NOTED
TABLE 8 - COMMUTATION RESOLVER PERFORMANCE DATA
DATA AT 25 C, UNLESS NOTED
PARAMETER VALUE UNITS
Input Voltage 4.0 Vrms
Frequency 20 kHz
Output Voltage (at max coupling)
2.0 Vrms
Power Input 100 mWatts, Max
Cycles Per Rev 4 -
Phasing - See Figure 2
Description
INTERPRET GEOMETRIC
SHEET 1 OF 2
D
C
B
AA
B
C
D
12345678
8 7 6 5 4
.0005
B
.01
2
THREE PLACE DECIMAL
Lafayette, CO
DO NOT SCALE DRAWING
.003
Schematics -1
UNLESS OTHERWISE SPECIFIED:
FOUR PLACE DECIMAL
PROHIBITED.
Appr.
3
SIZE DWG. NO.TOLERANCING PER: ASME Y14.5
MATERIAL
FINISH
DRAWN
CHECKED
ENG APPR.
MFG APPR.
Q.A.
COMMENTS:
DATENAME
TITLE:
1
1 Deg.TWO PLACE DECIMAL
REVIssue
DIMENSIONS ARE IN INCHESTOLERANCES:ANGULAR: MACH
PROPRIETARY AND CONFIDENTIALTHE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OFAVIOR CONTROL TECHNOLOGIES, INC. ANY REPRODUCTION IN PART OR AS A WHOLEWITHOUT THE WRITTEN PERMISSION OF AVIOR CONTROL TECHNOLOGIES, INC IS
CAGE 6GST1
+
-
Blk
A
RX
YelADC
Re
dScope Ch 2: S1+, S3-
Scope Ch 2: C+, B-
Yel
Blu
Re
d/W
ht
Wht
Blk
B
Red
Re
d
A
C
Yel
M
S2 S4
S3
S1
Blk/
Wh
t M
R1 R2
WhtScope Ch 3: S2+, S4-
E/0°
Scope Ch 1: R1+, R2-
Scope Ch 1: A+, B-
M
A
B C
WHT
Excite Motor with 1 ADC, A+, B- For Electrical Zero (EZ) Null Position.
YEL
RED
SHEET 1 OF 1
D
C
B
AA
B
C
D
12345678
8 7 6 5 4 3 2 1
1 Deg.
Schematics -1
TWO PLACE DECIMAL
UNLESS OTHERWISE SPECIFIED:
Issue Description
PROHIBITED.
Appr.
Lafayette, CO
.01
DO NOT SCALE DRAWING
.0005
TOLERANCING PER: ASME Y14.5
MATERIAL
FINISH
DRAWN
CHECKED
ENG APPR.
MFG APPR.
Q.A.
COMMENTS:
DATENAME
TITLE:
SIZE
BDWG. NO. REV
INTERPRET GEOMETRIC
FOUR PLACE DECIMAL .003THREE PLACE DECIMAL
DIMENSIONS ARE IN INCHESTOLERANCES:ANGULAR: MACH
PROPRIETARY AND CONFIDENTIALTHE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OFAVIOR CONTROL TECHNOLOGIES, INC. ANY REPRODUCTION IN PART OR AS A WHOLEWITHOUT THE WRITTEN PERMISSION OF AVIOR CONTROL TECHNOLOGIES, INC IS
CAGE 6GST1
Excite Motor with 1 ADC, B+, C -
RX
Yel
Blu
Re
d
Blk
Re
d/W
ht
Blk/
Wh
t
B
C A
Yel
ADC
+
-
AFor Electrical Zero (EZ) Null Position.
M
Red
Wht
S2 S4
S3
S1
R1 R2C B
RedScope Ch 3: S2+, S4-
E/0°
Wht
Yel
M
Scope Ch 1: R1+, R2-Scope Ch 2: S1+, S3-
A
Scope Ch 1: A+, B-Scope Ch 2: C+, B-
Figure 2 -‐ Resolver Alignment SchemaGc Resolver S1-‐S3 In-‐Phase for CCW RotaHon of Shay,
Materials / Processes and Environments CriGcal Materials
MSFC-‐SPEC-‐522 Table 1 MaterialsHigh Grade Stainless Steels, Passivated per ASTM-‐A-‐967 or
AMS-‐2700Winding InsulaHon System:
Polyimide Magnet Wire Low Outgassing Class H220 ImpregnaHng Varnish (No Silicone varnishes)
LubricaHon System:Low outgassing space qualified wet lube or opHonal dry film lubricaHon
Special Processes PassivaHon per ASTM-‐A-‐967 or AMS-‐2700 Motor Winding Assembly Standards / InspecHon Vacuum ImpregnaHon of Varnish Available Cleaning and ContaminaGon Control: CriHcal Clean per IEST-‐STD-‐CC1246 level 300 A. Clean Room LubricaHon / Assembly per ISO-‐14644-‐1 and -‐2.
Vacuum Outgassing – All Materials compliant with JSC-‐SPEC-‐SP-‐R-‐0022(<0.1% CVCM, <1.0% TML)
Standard Environments: OperaGng / Non OperaGng Environment
A. Temperature -‐40º C to + 150º CB. RelaHve Humidity: 0% to 90%C. Pressure 1E-‐7 torr to 812 torr.
Standard Environments: OpGonal Dry Film LubricaGon Environment
A. Temperature -‐260º C to + 150º CB. RelaHve Humidity: 0% to 50%C. Pressure 1E-‐7 torr to 812 torr.
Random VibraGon: The Actuators shall be designed and fabricated to withstand the following random vibraHon ASD as shown in Table 9. Expo-‐sure to vibraHon environment shall be 60 seconds minimum along each axis.
AcceleraGon: 300 g’s along each perpendicular axis.
Shock: Per Table 10.
Note: Other environmental requirements, and more extreme condi,ons are available on request. Contact Avior’s Engineering Department for ad-‐diHonal informaHon.
User’s Manual: With every deliverable actuator, Avior will provide a User’s Manual that will Include:
Acceptance Test Data Clean Room Handling Requirements (if applicable)InstallaHon InstrucHons
InstallaHon PrecauHons Maximum Radial Load RaHngsMaximum Thrust Load RaHngs
Linear Translation• Ball Screw • Planetary Roller Screw• Lead Screw
Custom Actuators• Rotary and Linear Actuators using a combination of prod-
ucts described herein. Eddy Current Damper Characterization Test
Kinematic TransducersPosition Transducers
• Resolvers (Housed and frameless) • Variable Reluctance• Rotary Variable Differential Transducers • Single Speed / Multi-Speed
Velocity Transducers
• Permanent Magnet Alternators • AC Tachometers
Acceleration Transducers• DC Angular Accelerometers
Alternators / Generators• AC Power Alternators
Energy Absorption• Eddy Current Dampers• DC Controlled Hysteresis Brakes• Friction Brakes and Clutches • Synchronous Deployment Control• Passive and Active Damping Control