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OT
O - M
ERV
S
Engr. M.BILAL
First, What is the meaning of servo?
In modern usage the term servo or servo-mechanism is
restricted to a feedback control system in which the
controlled variable is mechanical position or time
derivatives of position such as velocity and acceleration.
A servo is a device, electrical, mechanical or electro
mechanical, that upon receipt of a stimulus or input, will
employ feedback for velocity and/or position control,
creating a closed loop.
A feedback system is a control system which tends to
maintain a prescribed relationship between a controlled
quantity and a reference quantity by comparing their
functions and using the difference as a means of control.
Continued
Electrical feedback control systems rely mainly on
electrical energy for operation. Important characteristics
usually required for such a control are 1)fast response,
2)high accuracy, 3)unattended control and 4)remote
operation.
The essential for such a control are 1)an error detecting
device, 2)an amplifier and 3)error correcting device, as
illustrated in following figure.
Continued
Each elements serves a functional purpose in matching
the regulated or controlled quantity to the reference
quantity.
The error-detecting device determines when the
regulated quantity is different from the reference
quantity.
It then sends out an error signal to the amplifier which
in turn supplies power to the error correcting device.
With this power the error correcting device changes
the regulated quantity so that it matches the reference
input.
The closed loop at feedback control system is shown
in figure.
Servo-motor:
The motors which respond to the error signal abruptly
and accelerate the load quickly are called the servo-
motors.
A servo-motor is motor which is a part of
servomechanism. It is typically paired with some type of
encoder to provide positioning and speed feedback and
some error correcting device which actuates the supply
signal.
The fundamental characteristics to be sought in any
servo-motors
1)The motor output torque should be proportional the
voltage applied to it.
2) The direction of the torque developed by the servo-
motor should be depend upon the instantaneous
polarity of the control voltage.
Continued
There are mainly two types of servo-motors,
1)AC Servo-motor 2)DC Servo-motor
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.
Some other Characteristics:
The motor output torque is
proportional to the voltage
applied to it (i.e. controlled
voltage developed by amplifier
in response to an error signal).
The instantaneous polarity of
control voltage governs the
direction of torque developed
by servomotors.
The variation in torque-speed
characteristics due to variation
in temperature is shown in
graph.
Advantages:
High output power relative to motor size and weight.
Encoder determines accuracy and resolution.
High efficiency. It can approach 90% at light loads.
High torque to inertia ratio. It can rapidly accelerate
loads.
Has "reserve" power. 2-3 times continuous power for
short periods.
Has "reserve" torque. 5-10 times rated torque for
short periods.
Motor stays cool. Current draw proportional to load.
Usable high speed torque. Maintains rated torque to
90% of NL RPM
Audibly quiet at high speeds.
Resonance and vibration free operation.
Disadvantages:
Requires "tuning" to stabilize feedback loop.
Motor "runs away" when something breaks. Safety circuits
are required.
Complex. Requires encoder.
Brush wear out limits life to 2,000 hrs. Service is then
required.
Peak torque is limited to a 1% duty cycle.
Motor can be damaged by sustained overload.
Bewildering choice of motors, encoders, and servo-drives.
Power supply current 10 times average to use peak torque.
Motor develops peak power at higher speeds. Gearing
often required.
Poor motor cooling. Ventilated motors are easily
contaminated.
Applications:
DC servomotors finds its applications in various domain. Some
of them are given below:
For very high voltage power systems, dc motors are
preferred because they operate more efficiently than
comparable ac servomotor.
It has also find its application in inkjet printers and RC
helicopters.
To drive conveyors used in Industrial manufacturing and
assembling units to pass an object from one assembly
station to another.
It is also used in solar tracking system.
DC servomotors are widely used in robots, toy cars and
other position controlled devices.
Widely used in radars, computers, robots, machine tools
tracking system, process controllers etc.