Exp.

No:
Date:

TRANSFER FUNCTION OF ARMATURE CONTROLLED DC SERVO MOTOR

Aim:
To determine the transfer function of armature controlled DC servo motor.

Apparatus Required:

1. DC servo motor transfer function study trainer.
2. Multimeter.

Theory:
A servo system is one in which the output is some mechanical function such as
controlling the position of the shaft, controlling angular sped of the shaft etc. The motors
used in such control systems are driven by the signal which is derived based on the error
information supplied to the controller. These motors used in such servo systems or
servomechanisms are called as servomotors. These motors are low power rating motors
and can drive the load directly, hence these motors are usually coupled to the load through
a gear train for power matching purpose. The servomotors are basically classified
depending upon the nature of the electric supply used for its operation. Hence basic
classification is obviously AC servomotors and DC servomotors.
DC servomotors are specially designed DC motors with high starting torque and
low inertia. All DC servomotors are essentially separately excited type. This ensures linear
torque speed characteristics. The stator of the motor carries permanent magnets made
from a highly coercive ferrite material to withstand high demagnetizing fields. In DC
servomotors the rotor inertia have been made very small, with the result that motors with
very high torque to inertia ratio are commercially available. Most important among the
characteristics of the DC servo motor is the maximum acceleration obtainable. Low power
rating DC servomotors are used in computer disk drives, printer, tape drives, printer, tape
drives and so on. Medium and large power DC servomotors are used in machine in
machine tool industries, robots and numerically controlled machines.
In DC servomotors, field winding may be connected either in series with the
armature or separate from the armature. Since the speed of a DC servo motor is directly
proportional to armature voltage and inversely proportional to the flux in field winding, DC
servomotors may be used in two different control modes as follows:
a) Armature control mode, in which the speed of the DC servomotor is
controlled by armature current with field current constant.
b) Field control mode, in which the armature current is maintained constant
and speed of the DC servomotor is controlled by field voltage.
Armature control mode of DC servomotor with its transfer function is discussed
further.
Transfer Function of Armature Controlled DC Servo Motor
Armature controlled DC servomotor is an electromechanical control system. The
electrical system consists of an armature circuit and a field circuit. During analysis, only
the armature circuit is considered because a constant voltage excites the field. The
mechanical system consisting of the rotating part of the motor and the load connected to
the shaft of the motor. The armature controlled DC servo motor speed control system is
shown in figure 1.










Where,
R
a
- Armature resistance,
L
a
- Armature inductance, H
I
a
- Armature current, A
E
a
- Armature voltage,V
e
b
- Back e.m.f., V
K
t
- Torque constant, N-m/A
T - Torque developed by motor, N-m
- Angular displacement of the motor shaft, rad
- = d /dt = Angular velocity of the motor shaft, rad/sec
J - Moment of inertia of motor and load, kg-m
2
/rad
B - Friction coefficient of motor and load, N-m/ (rad/sec)
K
b
- Back emf constant, V/ (rad/sec)
f - Supply frequency, Hz

The equivalent circuit of armature is shown in figure 2.







By kirchoffs voltage law, we can write
a
a b aa a
di
Ee Ri L
dt
=+ +

(1)
Taking the laplace transform of Equation (1), assuming zero initial conditions, we
get
()()() ...........(2)
aaaaab
EsRIsLsIse =++

The relationship among the back emf e
b
(volts), rotor velocity (rad/sec) and flux
(webers) is

e
b
= K
b


Since flux is directly proportional to field current, the above equation can be rewritten as


b bf bf
d
e Ki Ki
dt
u
e = =

Since the field current is kept constant, the above equation becomes

b b
d
e K
dt
u
=

(3)
Taking the laplace transform of Equation (3), assuming zero initial conditions, we
get
E
b
(s)

=
( )
b
K s s u
(4)

On substituting equation (4) in equation (2) we get,
()()()() .............(5)
aaaaab
EsRIsLIsKss u =++
The torque of DC motor is proportional to the product of flux and current, Since the
flux is constant in this system, the torque is proportional to i
a
alone. Therefore,

T = K
t
i
a
(6)

Taking the laplace transform of Equation (6), assuming zero initial conditions, we
get
T(s) = K
t
I
a
(s) (7)

The mechanical system of the motor is shown in figure 2. The differential equation
governing the mechanical system of motor is given by





2
2
d d
J B T
dt dt
u u
+ = . (8)
Taking the laplace transform of Equation (8), assuming zero initial conditions, we
get,
2
() () () Js s Bss Ts u u + =
(9)
From equation (7) and (9) we get,
2
2
()( )()
( )()
() ............(10)
ta
a
t
KIsJsBss
JsBss
Is
K
u
u
=+
+
=
SSubstituting equation (10) into equation (5) we get,
2
( )()
()( ) ()
a aa b
t
JsBss
EsRLs Kss
K
u
u
+
=+ +

2
( )( )
()
a a
b
t
RLsJsBs
Kss
K
u
| | + +
= +
|
\ .

2
( )( )
()
a a bt
t
RLsJsBsKKs
s
K
u
| | + ++
=
|
\ .

1 1
()
a
a b t
a
t
L J
sRB s s KK
R B
s
K
u
| | | | | |
| |
+ ++ | | | |
\ .
\ . | \ .
=
|
|
|
\ .

1 1
()
a b t
a
a a
t
L KK J
RBs s s
R B RB
s
K
u
| | | | | |
| |
+ ++ | | | |
\ .
\ . | \ .
=
|
|
|
\ .

()
()
1 1
t
a
a
a b t
a a
K
RB s
Es
L KK J
s s s
R B RB
u
=
| | | |
| |
+ ++
| | |
\ .
\ . \ .

()
()
()
( )( )
TransferFunction

1 1

t
a
a bt
a m
a
K
s RB
Gs
Es KK
s s s
RB
u
t t
= =

+ ++
`
)


Where timeconstant ofthearmaturecircuit and
, mechanical timeconstant.
a
a
a
m
L
R
J
B
t
t
==
=
.
The above equation gives the transfer function of the armature controlled DC servomotor.

Formula:
( ) Torque 9.81S1~S2 R, N-m T=

Where 10
a
R= O
0.8
a
L mH =

Mechanical timeconstant
5
Electrical timeconstant
s
m
a
a
a
L
R
t
t
t
=
=

2
, kgm/ rad
m
J
B
t
=

2
Angularvelocity ,rad/sec
60
N t
e=

()
()
()
( )( )
TransferFunction

1 1
t
a
a bt
a m
a
K
s RB
Gs
Es KK
s s s
RB
u
t t
= =

+ ++
`
)

Where timeconstant ofthearmaturecircuit and
, mechanical timeconstant.
a
a
a
m
L
R
J
B
t
t
==
=

Determination of
m
:
Procedure:
1. Switch On the module.
2. Remove the load.
3. Adjust the voltage regulator for the rated voltage of 24V.
4. Switch OFF the module and note down the time taken for the speed to reach
standstill condition as
s
.
5. The motor reaches standstill in 5 time constant so
m
=
s
.
5
t

Determination of K
t
and B:
Procedure:
1. Switch On the module.
2. Adjust the voltage regulator for the rated voltage of 24V.
3. Remove the load and note down the no load current and no load speed.
4. Adjust the load in steps to a maximum of 200gm-cm and a current of 0.8 Amps (do
not exceed 0.8 amps) and for each load, note down the values of armature current,
speed, and the spring balance readings.
5. Calculate the corresponding angular velocity, torque, torque constant and frictional
coefficient.
6. Plot the torque speed characteristics.
Determination of K
b
:
Procedure:
1. Switch On the module.
2. Remove the load.
3. Adjust the voltage regulator gradually till the rated voltage of 24V and for each
voltage, note down the values of armature current, voltage, and speed.
4. Calculate the corresponding angular velocity, back e.m.f., back e.m.f. constant

Result:
Thus the characteristic of armature controlled DC servomotor is studied and its
transfer function is
( )
( )
c
s
E s
u
=

To find
m
(Retardation Test):

S.No
Range of Speed
(rpm)
Time taken by the module
s
(sec)
1.

To determine K
t
and B:

S.No.
Armature
current I
a

(A)
Speed
N (rpm)
Angular
Velocity
(rad/s)
Torque
T (N-m)

Torque
constant K
t

(N-m/A)
Friction
coefficient B
(N-m/rad/s)





















Avg K
t
= Avg B=
To Determine K
b

S.No.
Armature
Voltage V
a

(V)
Armature
current I
a

(A)
Speed
N (rpm)
Angular
Velocity
(rad/s)
Back
EMF E
b
(V)
Back EMF
constant K
b
(V/rad/sec)




















Avg K
b
=