INTODUCTION TO

CONTROL SYSTEM
SERVO-MECHANISM
 INTRODUCTION
What is control system?
◦ System: An interconnection of elements and devices for a desired purpose and/or objective.
◦ Control system: An interconnection of components forming a system configuration that will
provide a desired response.
◦ Process: The device, plant, or system under control. The input and output relationship
represents the cause-and-effect relationship of the process.

INPUT PROCESS OUTPUT

MODERN APPLICATIONS OF CONTROL SYSTEM
 Flight Control Systems
 Modern commercial and military aircraft are “fly by wire”
 Auto-land systems, unmanned aerial vehicles (UAVs) are already in place
 Robotics
 High accuracy positioning for flexible manufacturing
 Remote environments: space, sea, non-invasive surgery, etc.
 Chemical Process Control
 Regulation of flow rates, temperature, concentrations, etc.
 Long time scales, but only crude models of process
 Communications and Networks
 Amplifiers and repeaters
 Congestion control of the Internet
 Power management for wireless communications
 Automotive
 Engine control, transmission control, cruise control, climate control, etc.
 Luxury sedans: 12 control devices in 1976, 42 in 1988, 67 in 1991
 BASIC CONCEPTS OF A CONTROL SYSTEM
Plant: a physical object to be controlled such as a mechanical device, a heating furnace, a chemical reactor
or a spacecraft, a car, a missile.
Controlled variable: the variable controlled by a automatic control system , considering as a system output.
Expected value: the desired value of controlled variable based on requirement, often it is used as the
reference input
Controller: an unit that can compute the required control signal.
Actuator: a mechanical device that takes energy, usually created by air, electricity, or liquid, and converts
that into some kind of motion.
Sensor: a device that measures a physical quantity and converts it into a signal which can be read by an
observer or by an instrument.
Disturbance: the unexpected factors disturbing the normal functional relationship between the controlling
and controlled parameter variations.
CLASSIFICATION OF CONTROL SYSTEM
Broadly control systems can be classified as,
1. Natural control system Parameters of
◦ The biological system, systems inside human being are of natural type. system are
constant and not
2. Man-made control system functions of time
◦ Vehicles, switches are the examples of the man-made controller.

3. Combinational control system Parameters of

◦ Example like driver driving a vehicle. system are
functions of time
4. Time varying and time invariant system
◦ Time varying control systems are those in which parameters of the system are varying with time. (fig. 1)
◦ It is not dependent on weather input and output are functions of time or not. (fig. 2)
Classification
5. Linear and non linear system
I. A control system is said to be linear if it satisfies following properties
a) The principle of super position: this means the response to several inputs can be obtained by considering one input at a time
and then algebraically adding the individual results.
b) The differential equation describing the system is linear having its co-efficient as constants.
c) Practically the output i.e., response varies linearly with the input i.e., forcing function for linear system.
II. A control system said to be non-linear if it satisfies following properties
a) It does not satisfy the principle of superposition.
b) The equation describing the system are non-linear in nature.
 EXAMPLES OF CONTOL SYSTEM
1. Manual Speed control system:
A locomotive operator driving a train is a good example of a manual speed control system. The objective
is to maintain the speed equal to the speed limits set. The entire system is shown bellow,

Control
Speed +
action
Actuators Vehicle Actual
Limit (hands) speed
- (brain) mechanism

Sensor
(eyes)
2. D. C. Motor control system
The D. C. shunt motor is used where field current is kept constant and armature voltage is
changed to obtain the desired speed. The feedback is taken by speed tachometer. This generates
voltage proportional to speed which is compared with voltage required to the desired speed.
This difference is used to change the input to controller which cumulatively changes the sped of
the motor as required.

Desired + Error Actual

Speed Amplifier Armature Load speed
-

Techometer
3. Home Heating System
In this system, the heating system is operated by a value. The actual temperature is sensed by a
thermal sensor and compared with the desired temperature. The difference between the two,
actuates the value mechanism to change the temperature as per requirement.

Desired + Error
Value
Heating House
Temperature temperature
-
system

Temperature
sensor
4. Temperature Control System
The aim is to dry clothes through heating. Clothes are placed and the system is providing heat
with the help of electrical energy. The heating element is attached and the sensors are used as
feedback devices. Sensors will change the value of heating according to its requirement.

Electrical
energy

Desired + Heating Actual

dryness eliment
Heat clothes dryness
-

sensor
CONTROL SYSTEMS
system
Number of element or components are
connected in a sequence to perform the specific
function
Control system
➢ Output quantity is control by varying the input
quantity
➢ A control system consisting of interconnected
components is designed to achieve a desired
purpose
TYPE OF CONTRL SYSTEM
➢ Open loop system
➢ Closed loop system
CONTROL SYSTEMS
CONTROL SYSTEMS
CONTROL SYSTEMS
CONTROL SYSTEMS
CONTROL SYSTEMS
CONTROL SYSTEMS
CONTROL SYSTEMS
CONTROL SYSTEMS
SERVOMOTORS
SERVOMOTORS
SERVOMOTORS
SERVOMOTORS
SERVOMOTORS
SERVOMOTORS
SERVOMOTORS
SERVOMOTORS
SYNCHROS
SYNCHROS
SYNCHROS
SYNCHROS
SYNCHROS
SYNCHROS
Continued
THERE ARE MAINLY TWO TYPES OF SERVO -MOTORS,
1)AC SERVO-MOTOR 2)DC SERVO -MOTOR

AC SERVO-MOTORS ARE GENERALLY PREFERRED FOR LOW -

POWER USE. AND FOR HIGH-POWER USE DC SERVO-MOTORS ARE
PREFERRED BECAUSE THEY OPERATE MORE EFFICIENTLY THAN
COMPARABLE TO AC SERVO-MOTORS
DC Servo-motor:
UNLIKE LARGE INDUSTRIAL MOTORS, DC SERVOMOTORS ARE
NOT USED FOR CONTINUOUS ENERGY CONVERSION. THE BASIC
OPERATING PRINCIPLE IS SAME AS OTHER ELECTROMAGNETIC
MOTORS.
DESIGN, CONSTRUCTION AND MODE OF OPERATION ARE
DIFFERENT. THE ROTORS OF THIS KIND OF MOTOR ARE
DESIGNED WITH LONG ROTOR LENGTHS AND SMALLER
DIAMETERS. THEY HAVE LARGE SIZE THAN THAT OF
CONVENTIONAL MOTORS OF SAME POWER RATINGS.
THERE ARE VARIOUS TYPES OF DC SERVOMOTORS WHICH ARE
1)SERIES MOTORS, 2)SPLIT SERIES MOTORS, 3)SHUNT
CONTROL MOTOR & 4)PERMANENT MAGNET SHUNT MOTOR.
Series motors: The series motor has a high starting torque and draws
large current .Speed regulation of this kind of motor is poor . Reversal can
be obtained by reversing the polarity of field voltage with split series field
winding (i.e. one winding for direction of rotation). This method reduces
motor efficiency to some extent .
Split series motors: Split series motor are the dc series motor with split-
field rated with some fractional kilowatt . This type of motor can operate as
a separately excited field-controlled motor. The armature is supplied with a
constant current source. Split series motor has a typical torque-speed curve
. This curve denotes high stall torque and a rapid reduction in torque with
increase in speed. This results in good damping.
Shunt control motor: DC shunt type servomotor is not different from
any other dc shunt motor. It has two separate windings: field windings
placed on stator and armature winding placed on the rotor of the machine.
Both windings are connected to a dc supply source. In a conventional dc
shunt motor, the two windings are connected in parallel across the dc
supply. In case of a servomotor, the windings are supplied with separate dc
source.
Permanent magnet shunt motor: Permanent magnet shunt motor is
a fixed excitation motor where the field is actually supplied by a permanent
magnet. Performance is similar to armature controlled fixed field motor that
we are going to know in the next section.
Construction:
IT HAS CONSTRUCTION AS SAME AS DC MOTOR. IT IS CONSIST OF
STATOR AND ROTOR AND CONTROLLING PARTS.
IT HAS FEEDBACK GENERATOR FOR GENERATING FEEDBACK FOR
CONTROLLING THE SPEED & TORQUE.
IT HAS TWO PORTS ONE FOR DC SUPPLY AND OTHER FOR
CONTROLLED DC SUPPLY.
Construction:
Working principle of DC servomotor:
In DC operation, servomotors are usually responds to error signal abruptly
and accelerate the load quickly. A DC servo motor is actually an assembly of
four separate components, namely:
1. DC motor
2. Gear assembly
3. Position-sensing device
4. Control circuit.
Continued
The motors which are utilized as DC servo motors, generally have
separate DC source for field winding and armature winding.
The control can be archived either by controlling the field current or
armature current. Field control has some specific advantages over
armature control and on the other hand armature control has also
some specific advantages over field control.
Which type of control should be applied to the DC servo motor, is
being decided depending upon its specific applications.
Continued
In case of field controlled dc motor, the field is excited by the amplified error
signal mentioned earlier. The armature winding is energized from a constant
current source. Torque developed is proportional to field current (Ifl) up to
saturation level.
This method is applied in small servomotors. It has longer time constant owing
to highly inductive field circuit so dynamic response is slower than armature
controlled dc motor.
But in armature controlled dc motor, the motor armature is energized by
amplified error signal and field is supplied from a constant current source. High
field flux density also increases torque sensitivity of motor (torque proportional
to φ Ia). Here dynamic response is faster because it has shorter time constant of
the resistive circuit.
Field Controlled DC Servo Motor Theory:
The figure below illustrates the schematic diagram for a field controlled DC servo motor.
In this arrangement the field of DC motor is excited be the amplified error signal and
armature winding is energized by a constant current source.
The field is controlled below the knee point of magnetizing saturation curve. At that
portion of the curve the mmf linearly varies with excitation current. That means torque
developed in the DC motor is directly proportional to the field current below the knee
point of magnetizing saturation curve.
Working using PCM:
1. The control wire is used to communicate the angle.
2. The angle is determined by the duration of a pulse that is applied to the control wire. This is called Pulse Coded
Modulation.
3. The servo expects to see a pulse every 20 milliseconds (.02 seconds). The length of the pulse will determine how far
the motor turns.
4. A 1.5 millisecond pulse, for example, will make the motor turn to the 90 degree position (often called the neutral
position).
5. If the pulse is shorter than 1.5 ms, then the motor will turn the shaft to closer to 0 degrees.
6. If the pulse is longer than 1.5ms, the shaft turns closer to 180 degrees.
Torque-Speed Characteristics:
The torque-speed characteristics of separately excited dc servo-motor is shown in bellow
mentioned figure.
THEIR ARMATURE IS DELIBERATELY DESIGNED
TO HAVE LARGE RESISTANCE SO THAT TORQUE
SPEED CHARACTERISTICS ARE LINEAR AND
HAVE LARGE NEGATIVE SLOPE AS SHOWN IN
FIGURE. THE NEGATIVE SLOP SERVES THE
PURPOSE OF PROVIDING THE VISCOUS
DAMPING FOR THE SERVO DRIVE SYSTEM

As shown in figure the armature mmf and excitation field mmf are in quadrature this fact
provides the fast torque response because torque and flux become decoupled accordingly a
step change in armature voltage or current a quick change in the position or speed of the
rotor.
Feedback sensor used:
Performance Specifications:
DC servomotors share many performance specifications that are applicable to all types of DC motors. To
properly size a motor, these specifications must be matched according to the load requirements of the
application.
Shaft speed (RPM) defines the speed at which the shaft rotates, expressed in rotations per minute
(RPM). Typically, the speed provided by the manufacturer is the no-load speed of the output shaft, or
the speed at which the motor's output torque is zero.
Terminal voltage refers to the design voltage of the DC motor. Essentially the voltage determines the
speed of a DC motor, and speed is controlled by raising or lowering the voltage supplied to the motor.
Torque is the rotational force generated by the motor shaft. The torque required for the motor is
determined by the speed-torque characteristics of the various loads experienced in the
target application.
Starting torque - The torque required when starting the motor, which is typically higher than the
continuous torque.
Continuous torque - The output torque capability of the motor under constant running conditions.
 TRANSDUCER
WHAT IS TRANSDUCER
ELECTRICAL TRANSDUCER
CLASSIFICATION OF TRANSDUCERS
SELECTION CRITERIA OF THE TRANSDUCERS
BASIC CONSTRUCTION OF TRANSDUCERS
RESISTANCE TEMPERATURE DETECTOR
THERMISTORS
LVDT
RVDT
STRAIN GUAGE
BOURDON TUBE
APPLICATIONS,ADVATAGES AND DISADVANTAGES
WHAT IS TRANSDUCER
The transducer is defined as the device which convert the one form of energy into another form of the energy
Example:

 Temperature transducers
 Thermocouples
 Resistance-Temperature Detectors (RTD)
 Thermistors
 Resistive position transducers
 Displacement transducers
 Strain gauge
 ELECTRICAL TRANSDUCERS
 The electrical transducers is one which converts the non-electrical quantity into the equivalent electrical
quantity.
 Non-electrical quantity such as force, displacement, stress, temperature.
 Electrical quantity such as current , voltage
 CLASSIFICATION OF TRANSDUCERS
On the basis of transduction form used.
As primary and secondary transducers.
As passive and active transducers.
As analog and digital transducers.
As transducers and inverse transducers
On the basis of transduction form used
Resistive Transducers.
Capacitive Transducers.
Inductive Transducers.
Voltage and current Generating Transducers.
Primary and secondary transducers
Example
LVDT and bourdon tube
Passive and Active Transducers
If transducers derive the power require for transduction from an power source, then this kind of
transducer are known as passive transducer
Example
LVDT
RVDT
CONT…
When there is no need for any source then these type of transducers are Active transducers
Example are :
Thermocouple
Piezoelectric crystal
THERMOCOUPLE
TYPES OF THERMOCOUPLE
 Piezoelectric crystal

 Quartz ,Rochelle salt, Lithium sulphate or barium titanate.

 Inverse Transducers
These type of transducers convert a electrical quantity into non-electrical quantity
Example
Piezoelectric crystal
Analog ammeter
voltmeter
SELECTION CRITERIA OF THE
TRANSDUCERS
Operating principle
Sensitivity
Operating range
Accuracy
Errors
Environmental capability
Insensitive to unwanted Signal
Stability
BASIC CONSTRUCTION OF TRANSDUCERS
It consist of two important parts
 Sensing element.
 Transduction element.
RESISTANCE TEMPERATURE DETECTOR
THERMISTORS
Thermistors are used for the measurement of
precision temperature
Cont…
LVDT
Cont…
RVDT
 STRAIN GAUGE

It works on Piezoresistive effect.

These are used for measurement of stress and strain
 If an elastic material is subjected to tension then its resistance changes.
BOURDEN TUBE
Curved metallic tubes with
Elliptical cross section
Sealed at one end
Tends to straighten when pressure applied.
Angular sensitivity proportional to pressure applied
BOURDEN TUBE
APPLICATION
Audio/video equipment
Pressure indication
Measurement of displacement
Alarms
ADVANTAGES
Power requirement is very low for controlling the electrical or electronic system.
Output can be indicated and recorded remotely from the sensing element.
Electrical amplification and attenuation can be easily done.
An amplifier may be used to amplify the electrical signal according to requirement.
DISADVANTAGES
RTD produce mechanical vibrations
Their cost is high
Thermistors are unsuitable for wide temperature
Relative large displacement is required for appreciable output for LVDT
Bourdon tubes do not provide the precise measurement.
CONCLUSION
Transducers are used to convert one form energy to another.
All the transducers are very useful in all the application such as microphone , speaker etc.