D.C.

SERVOMOTORS
Construction and working concept

By-Vishakha Vaish EE-Third year

DC SERVO MOTOR

GENERAL OVERVIEW
They are called control motors. They have high torque capabilities. They are used for precise speed and precise position control at high torques. They find wide applications in radar , tracking and guidance systems , process controllers,computers and machine tools.

FEATURES
Either separately excited dc motors or permanent-magnet dc motors. Their armature is deliberately designed to have large negative slope so that torquespeed characteristics are linear & have a large negative slope. The negative slope provides viscous damping for the servo drive system.

D.C. MOTOR

Field controlled dc motor

FIELD CONTROL Terminology used

TM= developed motor torque if = field current Kf =motor torque constant in Nm/A Vf =input voltage m=angular shift resulting in the motor shaft Jm =moment of inertia fm = coefficient of viscous friction at the motor shaft

EQUATIONS
The related dynamic equations are The corresponding Laplace transformed equations are Vf(s) =R fi f(s) +sLfif(s) TM(s)=Kfif(s) TM(s)=s 2Jmm(s)+ sfmm(s) TM(s) =sJmm(s) +fmm(s)

Vf=R fi f+Lf dif/dt TM= Kfif TM=Jmd2/dt2+ fmdm/dt TM=Jmdm /dt +fmm

BLOCK DIAGRAM AND TRANSFER FUNCTION

Vf(s) m(s)
1/(Rf+sLf)

If(s)

Kf

TM(s)

1/(Jms2+fms)

m(s)/Vf(s)=Kf/s(Rf+sLf)(sJm+fm)

ARMATURE CONTROLLED Terminology Used

TM= developed motor torque ia = armature current KT =motor torque constant in Nm/A Kb =back e.m.f. constant in V/(rad/s) Va =applied input voltage m=angular shift resulting in the motor shaft Jm =moment of inertia fm = coefficient of viscous friction at the motor shaft

Armature controlled

EQUATIONS
The related dynamic equations are Va-eb=Ra+ia+Ladia/dt eb=Kbdm/dt TM=KTia TM=Jmd2/dt2+ fmdm/dt TM=Jmdm /dt +fmm The corresponding Laplace transformed equations are Va(s)Eb(s)=RaIa(s)+sLaIa(s) Eb(s)=sKbm(s) TM(s)=KTIa(s) TM(s)=s 2Jmm(s)+ sfmm(s)

BLOCK DIAGRAM
Vs (s) + Vs (s)-Eb (s) Ia (s) 1/(Ra+sLa) KT TM (s) 1/(s2 Jm +sfm)

sKb

TRANSFER FUNCTION
Forward Path transfer function G(s)=KT /s(sJm+fm)(Ra+sLa) And the feedback transfer function is H(s)=sKb Overall Transfer function m/Va(s)= KT /s Ra (sJm+fm)+sKTKb (if armature inductance is neglected)

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