Topic 5 - Servomechanism

Malaysian Institute of Aviation Technology
Topic 5:
Servomechanism
1
Objectives
After studying the material in this chapter, you should be able to:
1. Explain on the classification of the open and closed loop

control system.
2. Explain on the feedback/follow-up system of a closed loop
controller.
3. Explain on the meaning of the term : null, hunting,dead band
and damping
4. Describe on the degree and method of damping
2
Definition
• A servomechanism is a force amplifier mechanism
where the output accurately follows the input but
with greater power.
• Control system can be divided into two basic

types:
a. Open Loop Control System
b. Close Loop Control System
3
a. Open Loop
– A system whereby external action is required to

control the loop manually.
– Output controlled by the input only
4
b. Close Loop
– The control of loop is automatic within the system.

– Output controlled by the input with some form of
feedback or follower.
5
Basic system of Servomechanism consist of following components:
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Main Flight Control Surface 7

Introduction to Servo Systems
• The unit that control ailerons, horizontal stabilizer and rudder

are called servo motors.
• They are class of devices that include synchros and resolvers.
• Servos for the flight control systems (FCS) have important
characteristics; they will not jam or cause other parts to become
entangled in the motor.
– If an FCS fails, the aircraft returns to manual control.
• Servo mechanisms, also called SERVO SYSTEMS or SERVOS
for short, have countless applications in the operation of
electrical and electronic equipment.
8
Introduction to Servo Systems (cont’d)
• It is often necessary to operate a mechanical load that is

remote from its source of control in working with:
 Radar and antennas
 Directors
 Computing devices
 Aircraft control
 Many other equipments
• To obtain smooth, continuous, and accurate operation, the
mechanical loads are normally best controlled by synchros.
• As you already know, the big problem here is that synchros
are not powerful enough to do any great amount of work.
– This is where servos come into use.
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• A servo system uses a weak control signal to move large loads

to a desired position with great accuracy.
• Servos may be found in such varied applications as:
– Moving the rudder and elevators of airplane
• Servos are powerful.
– They can move heavy loads and be remotely controlled with
great precision by synchro devices.
10
Elevator and rudder control cables

11
• Servo systems are either electromechanical, electrohydraulic

or electropneumatic.
• Whatever the form, a relatively weak signal that represents a
desired movement of the load is generated, controlled,
amplified, and fed to a servo motor that does the work of
moving the heavy load.
• In light aircraft, control surfaces are directly connected via
mechanical devices such as cables and push-pull tubes to the
yoke.
• Servo motors are connected to the control system by clutches so
when the FCS is engaged, servo motors pull or push tubes or
cables controlling the aircraft.
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• In many large aircraft, control surfaces are moved with motors.

– A pilot does not have the strength to move control surfaces in some
aircraft and, like power steering in an automobile
– The controls are “servo assisted”.
• In the most advanced aircraft;
– Control surfaces are manipulated by a simple wrist action controller
called a side stick
– Surface are moved only by servo, with no mechanical connection to
the controller
– This is “fly by wire”, where signals from the side stick are
transmitted to a computer which adjusts the control surfaces
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Fly by wire - A321 Cockpit

14
• The difference between fly by wire and servo-assist is that fly by

wire uses digital data and control surface positions are
determined by a computer.
• Conventional servo assist typically uses analog signals and does
not involve a computer.
• Servo assist, even in the largest aircraft, is a simple feedback
control system.
• The important point in servo-assisted control system is that there
are motors already in place.
15
Synchro Controlled Servomechanism
The CT rotor is at 90º to CX rotor and so the system is in the null condition
16
• The CX rotor has been rotated so that an error signal has been produced
• This will drive the motor (clockwise) until the null position reached
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• The CX rotor has been rotated so that an error signal has been produced
• This will drive the motor (counterclockwise) until the null position is reached
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• In figure above:
– A synchro-controlled servo system is used as an input
– The output is made up of an indicator and other associated rotating
components (load)
– The mass or friction would not allow a simple synchro to be used
• The input synchro signal is connected to a synchro that is coupled to
the indicator shaft.
• When used in this application, special synchros, called control
transformers (CTs), are used.
• The rotor and stator impedances of the control transformer are higher
than those of a simple synchro, which allows them to interface more
easily with electrical circuits.
19
• If the input synchro and the control transformer in the indicator were set
to exactly the same angle, the rotor output from the control transformer
would be zero.
• When there’s an angular difference between the two synchros, there
will be rotor voltage.
20
Servo Behavior
• When the servo system is near its desired position, the motor is still
running at a relatively high speed.
• Because the motor and the other components of the servo system
have an inertia, the high motor speed near the desired servo position
will cause the servo to overshoot the position and end up on the
opposite side of the desired null.
• The error voltage will cause the motor to change direction and
approach the null point again.
• Depending on the amount of inertia, the system could overshoot
again and the process be repeated.
• A servo system that oscillates continuously is said to be unstable.
21
• Continuation of the overshooting about the null position is called

hunting. Damping of the system can reduce the oscillations and
prevent hunting.
• A servo system in which oscillations exist, but cease after a few passes
of the null point, is said to be underdamped.
• If the system approaches the null point without any oscillations in the
minimum time, the system is said to be critically damped.
• If the system approaches the null point without any oscillations but
requires an excessive amount of time, the system is said to be
overdamped.
• The damping of a servo system can be controlled either electrically or
mechanically.
• Usually it is easier to control damping electrically, and most systems set
the characteristics of the servo by means of electrical components.
22
Degree of Damping
23
Method of Damping
a. Viscous Frictional Damping
• Consist of a thin disc metal (copper or aluminium) on the
output shaft rotating between the pole of a permanent
magnet.
• Rarely used because:
i. Consume power
ii. Causes or widens dead band which is the amount of
error that can exist without correction.
24
b. Velocity Feedback Damping

• By a tacho-generator attached to the output shaft which
provide a small AC to produce voltage proportional to the
angular velocity of the shaft (motor).
• Cosume less power.
25
26
Summary
1. Define of open and closed loop control
system.
2. Explain on the meaning of the term : null,
hunting,dead band and damping?
3. Describe on the degree and method of
damping?
27
Topic 5:
Servomechanism
ii
28
Objectives
1. Explain the principle and operation of a synchro

transmission system namely:
i. Torque synchro
ii. Control synchro
iii. Differential synchro
iv. Resolver synchro
29
Synchro Transmission
System
30
Torque Synchro
• Used in instrument repeater systems (data indicating).
• Movement of an input shaft is converted into an electrical
signal and transmitted to move a pointer on a meter.
31
Operation
• AC applied to TX rotor and created a magnetic field in TX
rotor which is the primary of a transformer.
• This primary field effect the three coils S1,S2 and S3
(secondary transformer).
• If the rotors misaligned, the currents will set up a resultant
magnetic field in TR stator to which the TR rotor will align.
• When the rotors are aligned, the stator EMFs on the TX and
TR are the same. No current flows. (Null Position)
• TR rotor follows TX shaft.
32
Control Synchro
• Used as error detectors in servo mechanism.
• Comprises of two synchro units, a control transmitter (CX) and
a control transformer (CT).
33
Operation
• Reference signal applied to CX rotor and created a magnetic
field link to CX stator coils.
• CX stator EMFs produce currents through the coils of CT
stator coils and set up magnetic fields in the CT.
• EMFs induced in CT rotor depend on angle between rotor and
stator field.
• R1 aligned to S1 of the CX and the rotor of CT at 90 degrees
to S1 is the Null Position. (No error)
34
35
36
37
Differential Synchro
• Used when the output required to be the difference between two
input shaft angles.
• The rotor outputs are connected to the three stator coils of TR or CT
• May be used in either torque or control synchro system.
38
Operation
• TDX acts as a three winding transformer.
• The induces EMFs of TX stator applied to stator coils of TDX
which produces a resultant magnetic field.
• Induces EMFs TDX rotor coils applied to TR stator coils.
• The resultant field produced in TR stator is combination of
both TX and TDX rotor position.
• TR rotor moves to align with the resultant field (difference
between two shaft angles).
39
Example of combination of input and the resultant output
40
Resolver Synchro
• Commonly used in older analog computers and flight director
system on the aircraft
• They are used in dealing with problems that are often occur in
navigation: fixing the relative position of the two points.
• Has two sets of stator coils arranged at 90 degrees and two
set of rotor coils also at 90 degrees
41
• Positions are fixed in two way:

1. Measuring range and bearing (Polar coordinates)
2. Measuring X and Y coordinates (Cartesian coordinates)
42
Polar to Cartesian Conversion Operation
= x
= y
43
Cartesian to Polar Operation
44
Summary
1. Difference of Torque synchro & Control synchro?
2. How differential synchro operate?
3. Resolver synchro used for what application?
45
Objectives
1. Explain the meaning of transducer.

2. Explain the operation and state the use of “E and I
Transformers”.
3. Explain the operation and state the use of “Inductive
Transmitter”.
4. Explain the operation and state the use of “Capacitive
Transmitter”
46
Transducer
• A device, component machine, system or combination of
these that is used to convert one form of energy into
another.
• Example types of transducers:
1. Temperature transducer – convert temperature changes into
electrical voltages (or mechanical switching)
2. Pressure transducer – change barometric pressure into
electrical voltage
3. Motor – convert electrical signal into mechanical (rotary/linear)
.
47
“E and I” TransformErs
Construction
• E core – the centre limb is the primary coil and
the 2 outer are the secondary coils
• Secondary windings are connected in series

opposition, therefore the voltage induces in
them will oppose each other.
• I bar pivoted in the center and attached to

whatever we are trying to measure the movement
of, e.g. in servo altimeter, the I bar is connected
to the capsules.
• Changes in the position of the I bar changes the

reluctance at the upper of lower arm.
48
OPERATIONS
Figure a: I Bar Neutral
• The flux in the top and bottom limbs will be the same
• The emf induced into two coils B and C will be the same but of opposite
phase.
• The output will be zero
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Figure (b) : I Bar Position 1
• When the I bar is moved by the sensing element, more flux cutting coil
B (less air gap) and less flux cutting coil C (larger air gap).
• The emf induced in coil B is greater than in coil C.
• The output is the difference between these two giving an output that is ‘in
phase’ with input.
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Figure (c): I Bar Position 2
• When the I bar moved in opposite direction, the emf induced into coil C
is greater than coil B
• The output will be ‘anti-phase’ to the input.
• The amplitude of the output will depend on the amount of movement of
the I bar.
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Applications
• These type of sensor is used in:
 Servo altimeters
 Acceleration sensors
 Servo instruments
 Air data computers
 Cabin pressure transducer
52
Linear Voltage Differential Transformer (LVDT)
53
Inductive Transmitter
(a)
Construction
• Has a coil supplied with alternating current set against two vanes.
• Voltage will be induced into the secondary coil depending on the
inductance of the vane next to the coils.
• Amount of inductance depends on the type of vane material used
(permeability value,µ)
54
Operation
• A common inductive transmitter is made of aluminium and ferrite material.

• The null position is when the inductive coil is positioned on the join between
ferrite and the aluminium vanes, figure (a).
• If the vane is moved so more of the aluminium vane is beside the coils, less
inductance results, figure (b).
• Conversely when the vane move more of the ferrite vane is beside the coils,
greater inductance results, figure (c).
• One of the main application of inductance transmitter is position indication.
55
Capacitance Transmitter
The capacitance of a capacitor depends on:
1. The distance between the two plates

2. The area of the plates
3. The dielectric constant of the material between the plates
56
Capacitance Transmitter
Construction
• Capacitive transmitter are simply

variable capacitor (air dielectric)
• Movement of the input shaft
effectively alters the area of the
plates facing each other.
• Has a rotor and stator of
intermeshing plates.
57
Operation
• The amount of stator and rotor intermeshing is controlled by the rotation of a

shaft by mechanical output.
• As illustrated in figure above, when the stator and rotor plates are fully
intermeshed, the capacitance is high.
• Conversely, when the stator and rotor plates are partly meshed, the
58
capacitance is low.
Applications
• A common use of capacitance transmitters is a fuel quantity indicator system.
• As the fuel rises in the tank, air is displaced by fuel and the dielectric changes to
increase the capacitance of the unit.
• While the fuel level goes down, so the capacitance goes down.
• Air has a dielectric constant of 1 and aircraft fuel has a dielectric constant
of approximately 2.
Simple capacitive tank unit 59

60
Tank unit installation (B777)

61
Example of Fuel Tank Units
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Summary
1. What is E & I bar? The construction?
2. How E & I bar operate?
3. The use if E & I bar?
4. Construction of inductive transmitter?
5. Amount of inductance depends on?
6. Give 3 factors that effect capacitance of
a capacitor?
7. Application of capacitive transmitter?
63

Topic 5 - Servomechanism

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Malaysian Institute of Aviation Technology

1. Explain on the classification of the open and closed loop

• Control system can be divided into two basic

– A system whereby external action is required to

– The control of loop is automatic within the system.

Basic system of Servomechanism consist of following components:

Main Flight Control Surface 7

Introduction to Servo Systems

• The unit that control ailerons, horizontal stabilizer and rudder

Introduction to Servo Systems (cont’d)

• It is often necessary to operate a mechanical load that is

Introduction to Servo Systems (cont’d)

• A servo system uses a weak control signal to move large loads

Elevator and rudder control cables

Introduction to Servo Systems (cont’d)

• Servo systems are either electromechanical, electrohydraulic

Introduction to Servo Systems (cont’d)

• In many large aircraft, control surfaces are moved with motors.

Fly by wire - A321 Cockpit

Introduction to Servo Systems (cont’d)

• The difference between fly by wire and servo-assist is that fly by

Synchro Controlled Servomechanism

Introduction to Servo Systems (cont’d)

Introduction to Servo Systems (cont’d)

• Continuation of the overshooting about the null position is called

b. Velocity Feedback Damping

Introduction to Servo Systems (cont’d)

1. Explain the principle and operation of a synchro

Example of combination of input and the resultant output

• Positions are fixed in two way:

Polar to Cartesian Conversion Operation

Cartesian to Polar Operation

1. Explain the meaning of transducer.

• Secondary windings are connected in series

• I bar pivoted in the center and attached to

• Changes in the position of the I bar changes the

Figure a: I Bar Neutral

Figure (b) : I Bar Position 1

Figure (c): I Bar Position 2

Linear Voltage Differential Transformer (LVDT)

• A common inductive transmitter is made of aluminium and ferrite material.

1. The distance between the two plates

• Capacitive transmitter are simply

• The amount of stator and rotor intermeshing is controlled by the rotation of a

Simple capacitive tank unit 59

Tank unit installation (B777)

Example of Fuel Tank Units

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