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
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.
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: