CONTROL ENGINEERING LABORATORY, Nsbr EXPERIMENT NO. STUDY OF SYNCHRO. DEVICES 1, OBJECT To study the characteristics of a Synchro Transmitter Receiver pair torque-synchro and angular error detector.” alt and use these as 2. SYSTEM FEATURES The unit consists of the following components and subsystems, 8) A synchro wansmiter (T) with its rotor and stator terminals taken out on the panel for basic characteristics study. b) A synchro receiver (R) with. its rotor and stator terminals taken out. The pair may be connected as torque synchros for a basic angular Position control system, ©) Locking arrangement on thie synchro receiver to operate the Pair as error detector. : 4) Calibrated dial and knobs on both shafts, ©) An electronic de-modulator circuit to demonstrate phase-reversal of the eror signal using an in-built DVM. 5 20V. S0Hz power for the synchros and IC regulated dc sources for electronic circuits, 3. BACKGROUND SUMMARY Synchro systems have been traditionally used as angular position transducers and eror Getectors in ac position control systems. A.C. position and speed control systems which employed 2-phase ac. servomotors, especially operating at 400Hz, are still used in many Precision, low-power instrumentation applications, such as in aircrafts. Some of the advantages of these systems include small size, light weight, low inertia rotors and hence fast operation, and no commutator and brushes, unlike a potentiometer or a d.c. motor, These applications are however being slowly replaced by digital systems using stepper motors. A study of the 2-phase a.c. systems is, without doubt, an important content for any student of automatic control systems. 3.1, Basic Devices A synchro device, whether transmitter, receiver or control transformer, ae essentially of a stator and a rotor. The stator consist of three windings with their es apart, connected in star, as if for three phase supply. The phase of the signals in these ee taken out as S;, Sz and S3 are of course the same. In its simplest form, the bast laminated iron core carrying a single winding, the ends of which, Ry and Rz ere bus slip-rings. The schematic diagram of a synchro device is illustrated in Fig ! Let the a.c. voltage supplied to the rotor be h Synchro Devices \ =ONIMVUG TANVd | eons suxamnasssonoat Jl} sO O« Se sO O= tO Os Qu 8, w Input Shaft Output Shaft Fig.2 Torque Synchro System 1 Input Shaft Output Shaft Fig.3: Synchro Transmitter-Control Transformer peir as error detector Synchro Devices 3Vall) = Va sinwgt. ‘The stator terminal voltages at an arbitrary angle 9 may be written as Vsiso = V3 K Vp sin(@ + 240°) sinat Vons3 = V3 K'Vp sin(0 + 120°) sinwet Vays = V3 K Vp sin(0) sinaet where K is a constant, (Note that the three vo (a) Torque Synchro In Fig.2. two devices are connected together t0 form a synchro-pair. Both roto, supplied from the same AC source. Ifthe rotor positions in the two elements coincide, thes a cris teveod in. oe creme co af tame OME £2 circulating current can flow between the two stators. This is the equilibrium condition ni always sought by the system. The notation used for this type of system is T for Smt ‘Transmitter and R for Synchro Receiver. If the rotor of one element is turned, the emf be equal and currents will circulate in the stator win is produced which tries to bring the rotors back into alignment. When the transmitter rotor position fixed, it is the receiver rotor that is free to move.into alignment. The output shag will normally support a very small load requiring relatively small torque to align it. The torqy developed increases with angle of misalignment. ‘The difference between a synchro trans Itages are all in the same phase) Ps induced in the two stators Will nol dings, As a result ofthese CUEnt at, ’ sitter and receiver is only constructional; mechanical damper inthe form of «small flywheel is attached to the shaft of the receiver. Ay) tendency of the receiver rotor to oscillate about its NeW position following @ change in ty transmitter positon, is opposed by the inertia ofthe damper. ‘Also the structure of the rotor, different in each. () Control Transformer ‘Torque synchtos can produce high accu shaft position, however, the power available at the 4 Tight pointer of indicator can be driven by such a system, If the accuracy inherently available from synchro devices if t0 bo used in heavier, high inertia, control applications, more ouput power must be obtained. Control synchros provide the answer 9 this problem transformer (CT) set up. The first point to be noticed is that th In this case the synchro transmitter The ou called the control transformer, CT, as a volgt being used as a control transformer, ie. CT's raey angular information in response to np “eceiver output shaft is very Timited. At bes Fig.3, shows a control .xcitation is fed only to the input device. en from the rotor of a similar device, nit the synchro receiver is is u signal. In the present w actually R. ‘The excitation occurs atthe T and, since there is no excitation at the CT, the samt ‘electromagnetic vectors will occur there but in the opposite direction for each. A magnetic fe? is prodrced atthe centre ofthe CT which is the resultant of all three stor ‘vectors and is calleé the reconstituted fieid, Clearly, this field is in the seme direstion as the original field, whic created all the vectors in the rotor of the T. If the T rotor is angularly displaced, reconstituted field at the CT rotor will move with it. viewed as instantaneous because The vectors associated with this system are convenient for the purposes of explanation, However, in reality, the AC ‘excitation is changi"é Synchro Deviees pe aerms Error voltage Fig. 4: Error Voltage Waveform ac supply ‘ : oon | ac 2-phese fe | ante | 3.) fnson pe ‘Géar Trains we Output Shaft Fig. 5: An A.C. Position Control Sytem AC. ERROR D.C.ERROR SIGNAL SIGNAL (ouTFUn Te dc. (INPUT) SERVOAMPLIFIER Reference Voltage 2, Fig. 6: Demodulator Circuit Synchro Devicessme and therefore inducing the emf’s illustrated are at some point of Goran oa? ‘vill be induced that is dependent upon the rotor position be! i, Nite, ror ed feld,Irthe rotor and field are i lignment, the emf induced wit he pes 10 the tris perpendicular to the field, the induced emf will be zero (Fig 4), sta Rotation ofthe CT shaft will produce an emf at the CT rotor which is gg its angular position with respect t0 the reco ted field. The change of phase a point should be noted. Thus when the rotor and field are coincident, maximum em vend when they are perpendicular zero emf is induced. in control applications the rotor output is used as en error input to an ampyig processor which then actuates the motor. ie, 1 Upey the 1g induces (e) AC Position Control Fig shows the CT in combination with a servomechanism. It is actualy atin error detector. The input to the CT is a shaft angle on the three stator lines, from whe thy frold ig reconstituted atthe rotor. Ifthe rotor is not exactly aligned to give a zero signay ane amplifier, the error signal is amplified and drives the motor to reposition the output shaft sutput shaft position is fed back tothe CT rotor and brings i into alignment, reducing he Signal o zero, At this point the motor ceases to drive and the mew angular output is hela a, A phase reference is fed into the motor so that it can rotate in the correc direction reduce the error on the output shaft. The reference is compared with the phase of the signal, If they are in-phase the motor is tured in one direction, If they are 180° out of phase will be tumed in the opposite direction. This is automatically done in a 2-phase a servomotor. * (@) Demodulator In the ac position control system the modulated output from the control transfomneris demodulated by the two phase a.c. motor. The demodulation may also be performed bya dio circuit as explained oelow. “This circuit is used in servo systems because it not only converts ac to de, but itis able to distinguish the phase of the ac signal by comparing it to a reference voltage. This cra may not be confused with other phase detector circuits. such as those used in rader a communications systems. This demodulator (phase detector} distinguished signals that ax cither in phase or 180° out of phase. For this resson this circuit is useful in servo systems where the ac output from the error detector (CT, :s either in phase with the reference sigul ‘or180° out of phase. Whatever type of error detector is used in the servo system, the referer voitage to the error detector and to the demoduiator must be in pkase with each other for te demodulator to do its job. As shown in Fig.6, the anodes of the two diodes are supplied wit the same reference voltage. With no ac error input signal applied io Ta (quiescent state, bot diodes will conduct equally on the positive half-cycle of the reference voltage. The volbst drops across the two resistance, R, are equal. This results in the tivo output terminals beiag* the same potential; therefore, the output voltage is zero for the positive half-cycle. During tie nopative half-cycle, a negative voltage is felt on the anodes of both diodes, both diodes sre off, and zero potential is feit actoss the output terminals. The circuit will remain in thi condition until an ac error signal is applied. As an error signal is applied to T:,D, will eon sonen the inp signal isin phase withthe reference voltage, in its positive half-oyee Ds then remain in cutoff: Dz conducts when the phase relationship between the ac error signal 2 the reference voltage changes to 180°. At this time D, will cut off. This chang? could 6 Synchro Devices 6 7? re7 % Bs sy 2 180° phase reversal signals eo 22S gal applied Tan teore pa : the outpa vokage ip gr EE wi ghee mont Details jments that can be performed ; periment on be eit ae de exper 4 ons aracteristics of the Transmitter of on = 4 the transmitier rotor temas, Ry and Rohe : seep 3° the panel. ‘Stator terminals S:, S and Sy are le ct to 360° in | vary rotor angle from 9° to ee nes suep 2: V20) Mcp and Ves: withthe belp of the voimeter on see ol (sist Te set to ‘AC’ position wel Tee led below, che three stator voltages are next plotted on the same step 3: a vor angle. Note:- Although the voltages are m raph sheet sa funtion of are . tied in accordance with the “ aStms, vah easinebe with the three equations (sect ues, these save magnetic field direction in the coils. (Geetion 3.1) 0 show the 42 Torque Synchro pair operation ; itter and receiver rotors to the excitation supp} Step 1: Connect both transmitter and 1 : ae P |. Interconnect the respective stator terminals of the bia oe 7 ra in Sy, 8719 S2and S; 0 &, Donotlock erase step 2: Vary the transmitter rotor angle from 0° to 360° ia steps of 30" and nw he receiver rotor angle. The receiver should follow the transmitter rotor 4.3 Error detector operation panel. Interconnect the respective stator terminals of t0 S1, Sz to Sz and Ss to S3. Lock the ress = femeter on the panel. he vole should be set to ‘AC’ positionATso pemagsts CRO to display te ‘ee ara 1» the voltage acrose-Hé receiver rotor vermin ad the error Step 3: : = Yeeyrti transmitter rotor angle from 0° to 360" is stepsof "YT ae tage. Note on the CRO the 180° phase change a the oot ETSynchro Devices nes Voreene “4 eeeseses see te eR EE EE Rotor Angle. Tx Fig. 7, Transmitter Characteristics EH © me te mo M0 wo 0 200 22 210 2m 200 0 0 20 2 Input Shaft Angie, @ Fig. 8, Torque Synchro Pair44 Demedeeton 2 erry vty | ee to ge evel wn Set te et og) tone pen ane MOM pene yt Sige Sl cane ca MORI sa mtn i,t Hy dnt women betwen oy * te nw om et mee tan th 9 Pas & Typton! Pomeite 1 Hea, § | Cherpetertetion of the Trememam, & Rowe Fre Vv - 4. age _ Vow ‘ Lie ened. . on in om an , + ‘ a ase s “” . . tM *Y a x ‘ ue ai aw . as 46 mw ini" as 1 wr us om “a 108" 00 ft 00" od shows the changing magnotisation of the star voile The above is plotind in Fig we Oy meter moves “onang ta STAR are 180" phase shifted signal 4.2 Torque Synchro Pair S.No] bapet S aft Angle & = e : Y ) o ye 4 ” * or $ 120° w ‘ 0 x oar ’ wo ur1 Fig. 9 Error Detector Characteristics shag, 1°? 1PO°e 18 ploted in Fig. 8, This demonstrates how the output shad follows the input Input Shaft Angle Si 0 Error Voltage Ve (rms) 30° 0° 1a" 14.30" 1.53" shafts, (8, ~ 9,). For small errors a lineer function may however be assumed pxGading In STAR are 180° phase shifted slgnal, 6, References (a) M. Gopal, “Control Systems — Principles and Design”, Tata Mc GrawHill Publishing Co,, New Delhi, 2002. (@) B.C. Kuo, "Automatic Control Systems”, Prentice Hall of Inia Pt Li 198 wiih i See eal