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SERVOMOTORS

By
Joseph m Abraham
Aeronautical dept
Definition of Servomotor

Servo motors are used in closed loop control systems in which work
is the control variable. They are Mainly used in automatic control
systems. Servo motors feature a motion profile, which is a set of
instructions programmed into the controller that defines the servo
motor operation in terms of time, position, and velocity. They can
either Operate in a Continuous duty or step duty depending on the
construction.
How it Works
• This is a simple example to demonstrate how a
servomotor actually works using dc servo motor
system.
• The digital servo motor controller directs operation of
the servo motor by sending velocity command signals
to the amplifier, which drives the servo motor.
• Feedback devices are incorporated within the
servomotor. These devices provide information on the
motor’s position and velocity to the digital controller
• Controller in turn compares and monitors these actions
with the given set of instructions programmed manually
into the controller.
• Controller than controls or alters the velocity signal for
better output or efficiency.
Types of Servomotors

DC servo motors Ac servo motors


 Generally used for large power  Generally suited for low power
 applications such as in machine  applications such as instrument
 tools and robotics servo (e.g.) control of pen in X-Y
 –High torque to inertia ratio that recorders) and computer related
 gives them quick response to equipment (disk drives, tape
drivers, printers).
 control signals
 –Lower cost, higher efficiency
 –Low electrical time constants
(0.1 and
 to 6ms) and low mechanical time  less maintenance
 constants(2.3 to 40ms)  –Characteristics are nonlinear
and
 more difficult to control
Features of Servomotors

 Linear relationship between the speed and electric control


signal
 Steady state stability
 Wide range of speed control
 Linearity of mechanical characteristics throughout the entire
speed range
 Low mechanical and electrical inertia and
 Fast response
Ac servomotor
 These servo motors are basically
two-phase, reversible, induction
motors modified for servo operation.
 Ac servo motors are used in
applications requiring rapid and
accurate response characteristics.
 To achieve these characteristics,
these ac servo motors have small
diameter, high resistance rotors.
 The ac servo motor's small diameter
provides low inertia for fast starts,
stops, and reversals.
 . High resistance provides nearly
linear speed-torque characteristics
for accurate servo motor control.
Dc Servomotor
 dc servo motors are used in applications
where starts and stops are made quickly
and accurately.
 Very low armature inductance is found
resulting low electrical time constant
(typically 0.05 to 1.5 msec) that further
sharpens servo motor response to
command signals.
 The rotor of a shell dc servo motor
consists of a cylindrical shell of copper
or aluminum wire coils which rotate in a
magnetic field in the annular space
between magnetic pole pieces and a
stationary iron core.
 Dc Servo motors usually have two, four,
or six poles.
Transfer Function of A.C
servomotor

parameters required :
 Tm – Torque developed by servomotor
 θ– Angular displacement of rotor
 ω– angular speed
 Tl – Torque required by the load
 J – Moment of Inertia of load and the rotor
 B – Viscous – frictional coefficient of load and the rotor
 K1 - slope of control – phase voltage vs torque characteristic
 K2 – slope of speed – torque characteristic
Torque equations
With respect to the characteristics of the servo motor

for speeds near zero, all the curves are straight lines parallel to the
characteristic at rated input voltage (ec=E) and are equally spaced for
equal increments of the input voltage.

Under this assumption,


Torque developed by the motor,

The load torque is given by


Equilibrium condition

 At equilibrium, load torque is equal to load torque.


Therefore,

 On taking laplace transform of equation with zero initial conditions,


we get,
 Transfer function of ac servo motor is given by
Transfer function of dc
servomotor

Parameters required
 ea = Armature voltage
 ia = Armature current
 Ra = Armature resistance
 La = Armature inductance
 em = back emf
 IL = Load moment of inertia
 θm = Angular position of motor shaft
 ωm = Angular velocity of motor shaft
 B = Frictional (speed dependant) load
 The torque is proportional to current in a permanent magnet DC motor, so

The torque of the load is made up of the moment of inertia of the load, and the frictional
force of the load, and is given by the equation

The back emf is proportional to the flux and to the speed, and since the flux is constant in a
permanent magnet machine:

Kirchhoff's law around the armature circuit gives us:


 Combining all these equations gives us

Applying the electrical equation to the control theory


Since the angular speed, ωm, is the rate of change of angle:

Using the Laplace variable notation, where multiplying by s represents


differentiation in time:
 The Transfer Function for a Dc servomotor is finally
given by
References

 Control Systems – A. Nagoor kani, RBA


Publications, Chennai
 Scribd.com
 http://homepages.which.net/~paul.hills/Circuits/P
owerServo
 http://auto-controls.blogspot.com

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