Class 27 - Modeling of Servo Motors
Class 27 - Modeling of Servo Motors
P.R. VENKATESWARAN
Faculty, Instrumentation and Control Engineering,
Manipal Institute of Technology, Manipal
Karnataka 576 104 INDIA
Ph: 0820 2925154, 2925152
Fax: 0820 2571071
Email: [email protected], [email protected]
Web address: http://www.esnips.com/web/SystemModelingClassNotes
WARNING!
• ec = control signal
• ecar = E cosωct
= carrier signal
• Let
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
K1
where K m = = Motor gain constant
B + K2
J
τm = = Motor time cons tan t
B + K2