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Servomechanism

A servomechanism is a device that uses error-sensing negative feedback to automatically correct the performance of a mechanism and keep it on track. Servomechanisms are commonly electrical or partially electronic and use an electric motor. They operate on the principle of negative feedback, where the control input is compared to the actual position and any error is used to drive the system to reduce or eliminate the error. Servomechanisms are widely used in applications like automatic machine tools, aircraft control surfaces, remote control vehicles, and industrial machinery to perform complex motion control.

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472 views4 pages

Servomechanism

A servomechanism is a device that uses error-sensing negative feedback to automatically correct the performance of a mechanism and keep it on track. Servomechanisms are commonly electrical or partially electronic and use an electric motor. They operate on the principle of negative feedback, where the control input is compared to the actual position and any error is used to drive the system to reduce or eliminate the error. Servomechanisms are widely used in applications like automatic machine tools, aircraft control surfaces, remote control vehicles, and industrial machinery to perform complex motion control.

Uploaded by

amuthanece
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© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Servomechanism

A servomechanism, or servo, is an automatic device that uses error-sensing negative


feedback to correct the performance of a mechanism. The term correctly applies only to
systems where the feedback or error-correction signals help control mechanical position or
other parameters. A servomechanism may or may not use a servomotor. For example, a
household furnace controlled by a thermostat is a servomechanism, yet there is no motor being
controlled directly by the servomechanism.

A common type of servo provides position control. Servos are commonly electrical or partially
electronic in nature, using an electric motor as the primary means of creating mechanical force.
Other types of servos use hydraulics, pneumatics, or magnetic principles. Servos operate on the
principle of negative feedback, where the control input is compared to the actual position of the
mechanical system as measured by some sort of transducer at the output. Any difference
between the actual and wanted values (an "error signal") is amplified and used to drive the
system in the direction necessary to reduce or eliminate the error. This procedure is one widely
used application of control theory.

Positioning servomechanisms were first used in military fire-control and marine


navigation equipment. Today servomechanisms are used in automatic machine tools, satellite-
tracking antennas, remote control airplanes, automatic navigation systems on boats and planes,
and antiaircraft-gun control systems. Other examples are fly-by-wire systems in aircraft which
use servos to actuate the aircraft's control surfaces, and radio-controlled models which use RC
servos for the same purpose. Many autofocus cameras also use a servomechanism to
accurately move the lens, and thus adjust the focus. A modern hard disk drive has a magnetic
servo system with sub-micrometer positioning accuracy.

Typical servos give a rotary (angular) output. Linear types are common as well, using a lead
screw or a linear to give linear motion.

Another device commonly referred to as a servo is used in automobiles to amplify


the steering or braking force applied by the driver. However, these devices are not true servos,
but rather mechanical amplifiers. (See also Power steering or Vacuum servo.)

In industrial machines, servos are used to perform complex motion.


WORKING

A Servo is a small device that has an output shaft. This shaft can be
positioned to specific angular positions by sending the servo a coded
signal. As long as the coded signal exists on the input line, the servo will
maintain the angular position of the shaft. As the coded signal changes,
the angular position of the shaft changes. In practice, servos are used in
radio controlled airplanes to position control surfaces like the elevators
and rudders. They are also used in radio controlled cars, puppets, and of
course, robots.

The servo motor has some control circuits and a potentiometer (a


variable resistor, aka pot) that is connected to the output shaft. In the
picture above, the pot can be seen on the right side of the circuit board.
This pot allows the control circuitry to monitor the current angle of the
servo motor. If the shaft is at the correct angle, then the motor shuts off.
If the circuit finds that the angle is not correct, it will turn the motor the
correct direction until the angle is correct. The output shaft of the servo
is capable of travelling somewhere around 180 degrees. Usually, its
somewhere in the 210 degree range, but it varies by manufacturer. A
normal servo is used to control an angular motion of between 0 and 180
degrees. A normal servo is mechanically not capable of turning any
farther due to a mechanical stop built on to the main output gear.

The amount of power applied to the motor is proportional to the distance


it needs to travel. So, if the shaft needs to turn a large distance, the motor
will run at full speed. If it needs to turn only a small amount, the motor
will run at a slower speed. This is called proportional control.

How do you communicate the angle at which the servo should turn?

The control wire is used to communicate the angle. The angle is


determined by the duration of a pulse that is applied to the control wire.
This is called Pulse Coded Modulation. The servo expects to see a pulse
every 20 milliseconds (.02 seconds). The length of the pulse will
determine how far the motor turns. A 1.5 millisecond pulse, for example,
will make the motor turn to the 90 degree position (often called the
neutral position). If the pulse is shorter than 1.5 ms, then the motor will
turn the shaft to closer to 0 degress. If the pulse is longer than 1.5ms, the
shaft turns closer to 180 degress.
Servo motors are used in closed loop control systems in which work is the control variable,
Figure . The digital servo motor controller directs operation of the servo motor by sending
velocity command signals to the amplifier, which drives the servo motor. An integral
feedback device (resolver) or devices (encoder and tachometer) are either incorporated
within the servo motor or are remotely mounted, often on the load itself. These provide the
servo motor's position and velocity feedback that the controller compares to its
programmed motion profile and uses to alter its velocity signal. Servo motors feature a
motion profile, which is a set of instructions programmed into the controller that defines the
servo motor operation in terms of time, position, and velocity. The ability of the servo motor
to adjust to differences between the motion profile and feedback signals depends greatly
upon the type of controls and servo motors used. See the servo motors Control and Sensors
Product section.

Three basic types of servo motors are used in modern servosystems: ac servo motors,
based on induction motor designs; dc servo motors, based on dc motor designs; and ac
brushless servo motors, based on synchronous motor designs.

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